UNIVERSAL REACTOR VESSEL HEAD INSPECTION PLATFORM ASSEMBLY

1 . A mobile robotic assembly for guiding an end effector in inspecting reactor vessel heads, the mobile robotic assembly comprising:

a mobile platform;

a support assembly extending vertically from the mobile platform, wherein the support assembly comprises an adjustable height; and

a robotic arm attached to and extending laterally from the support assembly, the robotic arm comprising:

articulation joints;

motor assemblies for driving selective articulations at each of the articulation joints;

discrete segments extending between the articulation joints;

a connector for releasably connecting the end effector to the robotic arm; and

a rotation motor assembly for rotating the robotic arm about a longitudinal axis defined therethrough.

2 . The mobile robotic assembly of claim 1 , wherein the support assembly comprises:

a support shell;

a head assembly movably supported by the support shell; and

pneumatic cylinders arranged around the support shell and configured to adjust the height of the head assembly.

3 . The mobile robotic assembly of claim 2 , wherein the mobile platform comprises stabilizing members.

4 . The mobile robotic assembly of claim 3 , wherein the stabilizing members are rotatable between an undeployed position and a deployed position.

5 . The mobile robotic assembly of claim 1 , further comprising a drive wheel assembly.

6 . The mobile robotic assembly of claim 1 , further comprising at least one LIDAR sensor.

7 . The mobile robotic assembly of claim 6 , wherein the at least one LIDAR sensor is positioned at a front portion of the mobile platform.

8 . The mobile robotic assembly of claim 1 , further comprising camera assembly.

9 . A method of inspecting a reactor vessel head positioned on a headstand using a mobile robotic assembly with a robotic arm positioned on an adjustable support assembly, the method comprising:

passing a mobile robotic assembly through an access port of the headstand;

remotely guiding the mobile robotic assembly to a first location underneath the reactor vessel head;

remotely adjusting a height of the support assembly to a first height corresponding to a first inspection sight in the reactor vessel head;

remotely moving the robotic arm to bring an end effector within a sufficient proximity from the first inspection sight;

remotely guiding the mobile robotic assembly to a second location underneath the reactor vessel head;

remotely adjusting the height of the support assembly to a second height corresponding to a second inspection sight in the reactor vessel head, wherein the second height is different than the first height; and

remotely moving the robotic arm to bring the end effector within a sufficient proximity from the second inspection sight.

10 . The method of claim 9 , wherein the first location corresponds to a first penetration of the reactor vessel head.

11 . The method of claim 10 , wherein the second location corresponds to a second penetration of the reactor vessel head spaced apart from the first penetration.

12 . The method of claim 9 , wherein the first height is based on an occupied penetration of the reactor vessel head.

13 . The method of claim 12 , wherein the second height is based on an unoccupied penetration of the reactor head vessel.

14 . A mobile robotic assembly for guiding an end effector in inspecting a reactor vessel head, the mobile robotic assembly comprising:

a mobile platform;

a support assembly extending vertically from the mobile platform, wherein the support assembly comprises an adjustable height;

a robotic arm attached to and extending laterally from the support assembly;

a control circuit configured to:

receive a signal indicative of a specified location within a reactor vessel head;

determine a current location of the mobile robotic assembly;

develop a route for reaching the specified location, and

cause the mobile robotic assembly to move to the specified location along the route.

15 . The mobile robotic assembly of claim 14 , further comprising at least one sensor, wherein determining the current location is based on outputs of the at least one sensor.

16 . The mobile robotic assembly of claim 14 , further comprising a memory circuit storing information characteristic of the reactor vessel head, wherein the route is based on the information stored in the memory circuit.