Abstract: A two-far end supported actuator module for a snake robot using an inner wire includes: a module housing having a driving means and a reducer mounted therein, and having a plurality of accommodation portions on an outer surface thereof; an upper cover and a lower cover detachably installed at an upper part and a lower part of the module housing, respectively, wherein the upper cover has a rotation shaft passing hole for passing a rotation shaft therethrough, and the lower cover has a wire passing hole for passing a wire therethrough; a first connection bracket having one side coupled to one accommodation portion of the module housing, and another side coupled to a lower cover of another driving module, and configured to guide the wire thereinto; and a second connection bracket coupled to another accommodation portion of the module housing on the opposite side of the first connection bracket, and another side to which a rotation shaft is inserted to be supported.

Abstract: A two-far end supported actuator module for a snake robot using an inner wire includes: a module housing having a driving means and a reducer mounted therein, and having a plurality of accommodation portions on an outer surface thereof; an upper cover and a lower cover detachably installed at an upper part and a lower part of the module housing, respectively, wherein the upper cover has a rotation shaft passing hole for passing a rotation shaft therethrough, and the lower cover has a wire passing hole for passing a wire therethrough; a first connection bracket having one side coupled to one accommodation portion of the module housing, and another side coupled to a lower cover of another driving module, and configured to guide the wire thereinto; and a second connection bracket coupled to another accommodation portion of the module housing on the opposite side of the first connection bracket, and another side to which a rotation shaft is inserted to be supported.

Abstract: An apparatus for inspection of a reactor pressure vessel uses a laser driven type underwater wall climbing robot guided by a laser pointer. The inspection apparatus uses a small and light underwater wall climbing robot for the quick and adequate inspection of weld lines of a reactor pressure vessel. Position control methods are provided for the stable guidance of the robot to desired three dimensional inspection positions on the reactor pressure vessel.