Design and development of a robotic crawler for CANDU fuel channel inspection

For the design of a new robotic crawler drive unit for CANDU fuel channel inspection, a complete design and screening process was done in order to fulfil the objective of this research. A brief explanation of CANDU reactors is provided along with a discussion of the inspection systems that are currently in use. A study of some existing inspection systems is presented which was used for the development of the new robotic crawler design. A number of concepts were generated which underwent a screening process with the help of two design tools. With the help of these tools, a concept was chosen as the final design and details of it are presented. To demonstrate a proof-of-concept, the physical prototype of the robotic crawler was manufactured and assembled. A speed controller was implemented in the final design of the robotic crawler.

Name thesis:degree_name

Master of Applied Science (MASc)

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Ontario Institute of Technology

Year dc:date.issued

2015

Author dc:creator

• Shukla, Shivam

Advisors dc:contributor.advisor

• Nokleby, Scott
• Waller, Edward

• Robotic
• Crawler
• CANDU
• Inspection
• Design

Language dc:language.iso

en

Handle dc:identifier.uri

https://hdl.handle.net/10155/574

OAI identifier oai:identifier

oai:ontariotechu.scholaris.ca:10155/574