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INDOOR ROBOTS :EOLEEROS

Generalities

ERII and EROS are operated inside of buildings where the situation doesn't allow a human intervention without running physiological risks. Perfectly adapted for operations in industrial areas, they can :

  • go over obstacles,
  • open doors,
  • go up and down stairs.

They are fitted with :

  • a manipulator arm
  • cameras and lightings
  • a gamma goniometer
  • a temperature sensor

Missions

Record ambient gamma radioactivity :

  • Identify isolated radioative sources,
  • Perform remote inspections,
  • Record ambient temperature.
  • Recover waste materials,
  • Take solid samples
  • Carry out specific operations : operating valves, switches...

The robots generally consists of two "sub-systems"

  • The ERII robot,
  • The driving desk put in non hostile area.

Engins

EOLE

> General description

EOLE (Robotised Device for Observation and Localization in the Environment)

Issue du robot mobile de type ANDROS V de REMOTEC, l’engin EOLE est l’aboutissement de diverses modifications réalisées par le Groupe INTRA, afin d’améliorer ces capacités d’intervention et de répondre aux contraintes spécifiques des missions du Groupe INTRA.

  • New control command software and embedded electronic
  • On-board cable 350 m
  • Hardness embedded computer for 10 000 Gy (integrated dose)
  • Embedded energy Lithium-Ion batteries
  • Simultaneous Vision of 3 cameras, 2 of them are pan & tilt camera and are equipped with zoom

> The EOLE robot:

This is a caterpillar robot made up of one main chassis, two (front and rear) caterpillar axles and remote controlled manipulator arm with 5 freedom axis. Its Lithium-Ion batteries allow autonomy of 4 to 7 hours depending on the type of missions to be performed.

> The Driving Desk:

It is the same for EOLE and EROS robots.
A rack allows the control of the robot (locomotion, use of the arm) as well as video and sound recording. This complete version includes a second rack managed by a co-pilot and ensures the general surveillance and supervision of the mission.

> Caractéristiques techniques

> Robot
Manufacturer : REMOTEC (USA) Modèle ANDROS Mark 5
Integrator : GIAT Industries
Autonomy : 4 hours
Maximum speed : 0,4 m/s
Length of the cable : 350 m on board

> Manipulation arm
5 freedom axis + clamp tightening.
All the axis have a varying speed operated from the driving desk. Horizontal manipulation distance : 1,70 m
Vertical manipulation distance : 2,85 m
 Full extension carrying capacity : 160N

> Operating conditions
Max slope capacity < 45°
Obstacle clearing capacity : 0,40 m hight
Trough crossing capacity : 0,60 m width
Maximum integrated dose : 104 Gy
TUtilisation temperature : +5°C < T < +55 °C

> Dimensions
Length : 1,00 m / 1,60 m (Depend of the position of the front and rear caterpillars)
Width : 0,72 m
Height : 1,13 m (folded up arm)
Mass : 376 K

EROS

> General description

EROS (Robotised Device for Observation and Surveillance)
New generation robots, they will be operational in 2nd half of 2001.

Built on the same basis as the ancient CENTAURE, EROS models underwent improvements such as :

  • Overhaul of electronics and control-command,
  • Lengthening of the cable to 350 m,
  • Integration of harsh environment- resistant electronics and computer (integrated dose up to 10 4 Gy),
  • Energy alimentation with on board Lithium–Ion batteries,
  • The studies take into account future development such as positioning system, stereoscopic view, tools, hertzian driving)
  • The robot :EROS is a two-segment chain vehicle articulated on a single axis. Its manipulator arm has 6 degrees margin + clamp tightening. Its Lithium/Ion batteries allow it an autonomy of 7 hours.
  • The driving desk : The driving desk is now common to EROS and the future robots EOLE. Really easy to install, it needs a pilot for the robot driving and a navigator who supervises the mission

> Technical characteristics

> Robot
R&D : CEA
Integrator : CYBERNETIX
Mobility : Forwards/backwards, on the front or rear caterpillars with on the spot pivoting
Autonomy : 7 hours
Maximum speed : 0.25 m/s
Lenght of the cable :
With a "Romain 125" arm : 200 m of on board cable.
With a "Romain 50" arm : 350 m of on board cable.
Slope climbing capacity : 42.5 °
Obstacle clearing capacity :
height 0.60 m ,
Width 0.60 m
Max integrated dose : 10 000 Gy
Operating temperature : -20 à +55 °C

> Manipulation arm
Type : "Romain 50" - 6 degrees margin + clamp tightening
All the axis have a varying speed operated from the driving desk
Horizontal manipulation distance : 1.25 m
Vertical manipulation distance : 2.22 m
Full extension carrying capacity : 5 daN

> Dimensions
 Length : 0.98 m / 1.57 m
(Depends on the position of the front and rear caterpillars)
Width : 0.44 m
Height : 1.15 m
Mass : 300 kg