SPOKES is a reconfigurable robot system which can enter up to 4" DIA openings to access larger workareas, such as tanks, reactors, ducting, in order to perform in-situ visual and ultrasonic inspections.
The robot system consists of a set of legs and attached locomotors, which allow for bi-directional travel due to their innovative actuation mechanism. A UT-sensor and video camera are carried by the robot and it is tethered through a deployment pod to an off-board controller suitcase
The robot system accesses these tanks by collapsing its legs and locomotors to fit through a 4" DIA opening. Locomotion is in cylindrical coordinates inside the tank to allow travel in circular and longitudinal directions
