Symmetry-Inspired Design and Full-Coverage Path Planning for a Multi-Arm NDT Robot on a Reactor Pressure Vessel

Regular ultrasonic full-coverage inspection of reactor pressure vessels (RPVs) is critical to ensuring the safe operation of nuclear power plants. However, due to the extreme operating conditions and complex internal geometry of RPVs, most existing inspection technologies face significant challenges in achieving convenient and efficient full-coverage traversal detection. To address these limitations, this study proposes a novel nondestructive inspection robot equipped with four symmetrically arranged inspection arms for comprehensive RPV ultrasonic inspection. By considering the structural symmetry and motion characteristics of the inspection arms, a corresponding kinematic analysis is conducted, resulting in a precise kinematic model that enables real-time computation of both forward and inverse kinematic solutions with high accuracy. Furthermore, an adaptive full-coverage inspection method is developed by leveraging the vessel’s axisymmetric geometry and by partitioning the RPV into seven distinct detection zones, allowing the four inspection arms to independently complete inspections across the maximum number of zones, thereby significantly enhancing both detection coverage and operational efficiency. Experiments demonstrated the practical feasibility of the proposed robotic system and validated the effectiveness of the full-coverage inspection method.