A Modular Approach to Robotic Automation of DOE Applications

The Department of Energy (DOE) faces many unique challenges in the automation of operations within each of Environmental Management’s focus areas. ARM Automation has developed a modular architecture that addresses many of the DOE’s automation requirements. This paper outlines technical progress of the first system being built, under Contract # DE-AC2698FT40371, using this modular approach; a robotic manipulator tailored to the needs of glove box operations constructed from two sizes of intelligent actuator modules, quick-connections, links and an open architecture system controller. The proposed test plan for quantifying this system as it applies to the DOE is then presented. This is followed by a synopsis of the overall applicability of modular robotic technology to DOE EM applications. Finally, ARM Automation is working under an SBIR award titled “Modular Robotics for Delivering On-Site Contamination Sensors and Mapping Systems to Difficult-to-Access Locations” to refine and apply this technology to an EM application. A description is given of ARM’s goal under the SBIR of exploring the application of the modular approach to another DOE application: presenting a sensor into a contaminated area that is in need of characterization.