Author: Hermes, T.
Paper Title Page
MOCPL06 MARWIN: A Mobile Autonomous Robot for Maintenance and Inspection 76
 
  • A. Dehne, T. Hermes, N. Moeller
    hs21, Buxtehude, Germany
  • R. Bacher
    DESY, Hamburg, Germany
  
  MAR­WIN is a mo­bile au­tonomous robot plat­form de­signed for per­form­ing main­te­nance and in­spec­tion tasks along­side the Eu­ro­pean XFEL ac­cel­er­a­tor in­stal­la­tion in op­er­a­tion in Ham­burg, Ger­many. It con­sists of a 4-wheel drive chas­sis and a ma­nip­u­la­tor arm. Due to the unique Mecanum drive tech­nol­ogy in com­bi­na­tion with the ma­nip­u­la­tor arm the whole robot pro­vides three de­grees of free­dom. MAR­WIN can be op­er­ated in a pre-con­fig­ured au­tonomous as well as a re­motely con­trolled mode. Its op­er­a­tion can be su­per­vised through var­i­ous cam­eras. The pri­mary use case of MAR­WIN is mea­sur­ing ra­di­a­tion fields. For this pur­pose MAR­WIN is equipped with both a mo­bile Geiger-Mueller tube mounted at the tip of the ma­nip­u­la­tor arm and a sta­tion­ary multi-pur­pose ra­di­a­tion de­tec­tor at­tached to the robot's chas­sis. This paper de­scribes the me­chan­i­cal and elec­tri­cal setup of the ex­ist­ing pro­to­type, the ar­chi­tec­ture and im­ple­men­ta­tion of the con­trols rou­tines, the strat­egy im­ple­mented to han­dle ra­di­a­tion-trig­gered mal­func­tions, and the en­ergy man­age­ment. In ad­di­tion, it re­ports on re­cent op­er­a­tions ex­pe­ri­ences, en­vis­aged im­prove­ments and fur­ther use cases.  
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DOI • reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-MOCPL06  
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