The first prototype was constructed largely of poly-carbonate plastic. The drive system consisted of 4 serial gears with electric motors, powering two independently controllable tracks. A conventional, industrial remote-control unit was used to guide the robot. A Panasonic color video camera was statically mounted, facing forward. It transmitted images via a specially-constructed "umbilical cord." The robot's maximum tractive power was approx. 6 kg.
 
 

Min. height  Max. height  Overall length Overall width Weight

180 mm 300 mm 390 mm 175 mm 3.5 kg

UPUAUT-1

Upuaut-1 was used solely to explore the upper shafts of Cheops. The robot, actually a camera sled, had no drive unit – it had to be pulled through the shafts using a winch system. Its dimensions were reduced to a minimum in order to enable passage through the narrowest sections of the shafts. A front-mounted "Laser Rod" enabled exact measurement of the height and width of the shafts, and of the block joints and gaps.
 
 

Overall height Overall length Overall width Weight

90 mm 490 mm 95 mm 1.5 kg

UPUAUT-2

Upuaut-2 is an original design - only one model exists.  All structural parts are milled from aircraft aluminum. 
The robot is fitted with a laser guidance system and a SONY CCD miniature video camera with pan and tilt capabilities. 

Seven independent electric motors with specially-designed Swiss precision gears drive the upper and lower wheel / track systems, providing leverage thrust of 20 kg and pulling power of 40 kg (under ideal traction conditions).

Power supply is via "umbilical cord", a specially manufactured cable only 4.2 mm in diameter.
The remote control console is microprocessor - controlled. 
 
 

Minimum Height Maximum Height Overall Length Overall Width Weight

120 mm 280 mm 370 mm 120 mm 6 kg

THE ROPE CLIMBER

This device was developed to carry out two very different tasks:

1) Exact measurement of the shaft angles, and
2) Reduction of the drag force exerted by the control cable on the robot Upuaut-2.

The Rope Climber pulls itself upward through the shaft by grasping Upuaut-2's cable.
The vehicle carries a high-resolution, numeric-digital instrument designed to measure the shaft's angle of ascent. It also features a special device which allows the robot to wedge itself in the shaft with a force of 120 kg. Then, with its motors set in reverse, it plays forward slack control cable, allowing Upuaut-2 to maneuver free of the usual drag force exerted by the cable. Without this feature, Upuaut-2 would never have been able to overcome several of the obstacles in the lower shafts.
 
 

Overall height Overall length Overall width Weight

110 mm 400 mm 120 mm  0.8 kg