RADIAX

Automated Guided Vehicle (AGV) for Radiopharmaceutical Material Handling

GUJCOST Proposal · Conceptual Design

Team DRISHTI | Technical Member

Project overview

RADIAX is a proposed compact Automated Guided Vehicle (AGV) designed for the safe and precise transportation of radioactive vials and lead-shielded radiopharmaceutical containers within controlled radiopharmacy environments. The project was developed through two mechanical design iterations, exploring different lifting and gripping mechanisms while retaining a common electronic hardware and autonomous navigation architecture.

Design iterations

RADIAX evolved through two mechanical design iterations while retaining a common electronics and autonomous navigation architecture. Each iteration below includes its interactive 3D CAD model.

Iteration 01 - Initial Concept

Mechanical Design

RADIAX · Iteration 01 CAD Model

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  • Screw-actuated lifting mechanism for vertical positioning of the handling assembly, providing controlled vertical displacement through the linkage.
  • Two-finger gripping mechanism for handling radioactive vials and lead-shielded containers.
  • Mecanum-wheel drive platform for omnidirectional mobility.

Iteration 02 - Finalised Concept

Mechanical Design

RADIAX · Iteration 02 CAD Model

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  • Scissor-lift mechanism actuated by a lead screw for vertical extension.
  • Parallel rack-and-pinion gripper with opposing racks for synchronized jaw movement.
  • Compliant gripping pads for handling cylindrical vials and moderately irregular containers.
  • Extension rods and counterweight arrangement to reduce wobble and maintain balance during lifting and manipulation.
  • Mecanum-wheel drive platform for omnidirectional mobility.

Common system architecture

Electronics & Navigation

Shared by both mechanical iterations

  • Raspberry Pi 4
  • Arduino Mega 2560
  • ESP32
  • RPLIDAR C1
  • GPS NEO-M8N + IMU
  • Camera module
  • DC gear motors and motor drivers
  • LiPo battery and LM2596 voltage converters
  • ROS 2 for navigation, planning, and system integration
  • Hardware kill switch for emergency motor shutdown

My contributions

  • Contributed to the conceptualisation of RADIAX as an autonomous platform for radiopharmaceutical handling.
  • Helped define the intended functional workflow and control architecture, including navigation, object detection, obstacle avoidance, lifting, and gripping operations.
  • Prepared and organised the technical documentation, diagrams, component descriptions, methodology, and proposed implementation timeline.
  • Reviewed the overall technical presentation to clearly communicate the project’s working principle, societal application, and proposed development pathway.

Technical Documentation

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