Rosie: A mobile workstation for decontamination and dismantlement operations

RedZone Robotics, Inc. and Carnegie Mellon University`s Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are in the second phase of this three phase effort and are completing the design of the worksystem. Within this project RedZone is designing and fabricating a worksystem: Rosie. Rosie will include a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system to deploy tools into the work area. The heavy manipulator will be capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie will be telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center. This report describes the design of the systems. In phase three Rosie will be radiation-hardened and perform a demonstration in a contaminated facility