PIT Viper Acceptance Testing in France

During the week of March 19, 2001, acceptance testing of the manipulator for the Pit Viper System was performed in Marseille, France. Two staff members from Pacific Northwest National Laboratory (PNNL) and two staff members from CH2MHill Hanford Group (CHG) observed and participated in the acceptance tests. The vendor, Cybernetix, successfully demonstrated that the arm met all of the functional requirements of the specification. The Pit Viper System is a joint Tanks Focus Area, Robotics Crosscutting Program, and CHG EM-30 project for cleaning up riser and valve pits associated with underground storage tanks at Hanford.

The arm was required to lift 200 lbs at full extension and manipulate a tool weighing 150 lbs. The system was also required to demonstrate the ability to perform a specified list of tasks including size reduction, painting and spraying, scraping and grinding. Size reduction was demonstrated by using a Porta-Band saw to cut 4-inch schedule 40 pipe. The ability to perform painting and spraying tasks was assessed by measuring the area over that the gripper could be manipulated in a rectilinear pattern maintaining a controlled standoff distance from a wall. Grinding and scraping were performed using a small electric disc grinder and a steel chisel with modified handles to interface with the gripper.

[ Home ] [ Welcome ] [ About RBX ] [ R&D Activities ] [ Historical ] [ Highlights ]
[ Gallery ] [ Reports ] [ Search ] [ Contacts ] [ Related Links ] [ Disclaimer ]

Site provided by the Oak Ridge National Laboratory for the U.S. Department of Energy
Last Modified: Wednesday, May 16, 2001 15:49