Design of a dynamic mock-up bench for testing robotic interventions

Abstract

[Abstract] When a robotic intervention is required in hazardous facilities (e.g. particle accelerators or nuclear plants), it is commonly not possible to test the operation on-site in advance - a considerable challenge since robotic interventions usually require specific tasks for each location -, precluding the team from demonstrating the feasibility of the operation. It becomes mandatory to develop a particular mock-up for each operation, unsuitable for reusing it in future missions. To solve this problem, a general dynamic mock-up bench was designed, allowing to centre the testing of all remote handled tasks and to choose the best set of robots to perform them.