Quehanna Site Facility Photo Galleries
Robot Gallery

General view of the robot. General view of the robot. The robot consists of a remote controlled track system with a single manipulator arm. Various tooling has been designed for use by the robot in the cell. The control system provides a forced feedback to the user. This means that the person controlling the robot gets resistance feedback from the actions of the robot.
The robot using a grinding tool. Many hours of testing and tool development were performed prior to deployment of the robot into the process box. Shown here is picture of the robot utilizing a grinding tool on a mock-up of the process box. A majority of the testing was performed in the mock-up.
The robot using a grinding tool. A view of the robot in the mock-up testing a different grinding tool setup then picture 2. Four different tools have been used in the actual process box work. These tools are a simple grinder, a tube crimper, a tube cutter, and a radiation survey instrument.
Video monitoring of robot operations. The control room contains multiple camera angles to make robot operations possible. Visibility is very important for the robot operators because the work requires a good deal of precision.
The forced feedback master arm controller. The robot controls consist of the forced feedback master arm controller. This controller enables the operator to feel forces on the robot manipulator arm. There are also control panels for operating the robot track system and the remote cameras.
Cutting the process box's steel walls. This picture is of a monitor showing the robot using a grinding tool to cut the steel walls of the process box. The metal walls were removed to gain access to the process tubing that was crimped and cut remotely.
The manipulator cutting metal. The picture is of a monitor showing the manipulator hand handling cut pieces of metal in the cell. The metal pieces were placed out of the way of the robot until enough metal was collected to remove it from the cell. The robot is capable of handling a maximum of about 200 pounds.
Video monitoring the robot arm in action. This picture is of a monitor showing the robot arm preparing to remove one of the process tanks from the cell wall.

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