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PKM as Climbing Robot

EURON Winter School 2007 Parallel Robots: Theory and Applications Benidorm, Spain, March 2007. PKM as Climbing Robot. GRMI-DISAM Saltaren R., Aracil R., Yime E. & Moreno H. Speaker: Hector A. Moreno. Climbing Robots.

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PKM as Climbing Robot

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  1. EURON Winter School 2007Parallel Robots: Theory and ApplicationsBenidorm, Spain, March 2007 PKM as Climbing Robot GRMI-DISAM Saltaren R., Aracil R., Yime E. & Moreno H. Speaker: Hector A. Moreno

  2. Climbing Robots Why Climbing Robots?There are several dangerous taks which require to slide or climbing along structures:-Exploring dangerous and hostil enviroments (i.e. nuclear power plants, buildings, bridges) Cleaning Maintenance Inspection

  3. Climbing Robots therefore it is necesary to develop Robots whit the capability to climband performance the tasks which now require human intervention.

  4. Climbing Robots NeroPortsmouth UniversityUK, 1990-1991 Robugs IIsPortsmouth UniversityUK, 1989-1990 NinjaHirose & Yoneda Labs. 1990-1993

  5. Climbing Robots Robug IIIPortsmouth University 1993-1995 Climbing Robot for pipesSiemens AG1992-1995 Climbing Robot for pipesMunich University1992-1995

  6. Climbing Robots RomaCarlos III de Madrid University Spain,1995-1998 RestIAI-CSIC Spain,1995-1997

  7. Climbing Robots A classification. Climbing Robots Holding Device Power supply P/W Ratio Number of legs Pneumatic Electric High (carrier) Low (inspection) -Biped (Caterpillar) -Tripod -Cuadruped -etc Electro-magnet Pneumatic-vaccum Clamps

  8. Why using a PKM as Climbing Robot? Features of a PKM: • Rigid Structure • Good P/W Ratio • High Velocities A Climbing Parallel Robot (CPR). UMH Elche, Spain 2002

  9. Why using a PKM as Climbing Robot? Video of a PKM A Climbing Parallel Robot (CPR). UMH Elche, Spain 2002

  10. Why using a PKM as Climbing Robot? There are several exciting subjects which are involved in the development of a CPR: -Control -Path planning -Mechanical Design -Teleoperation

  11. Why using a PKM as Climbing Robot? Control Pneumatic actuators looks like a good and economical solution for our needs, but the control is more complicated. Path planning We have to consider: -Singularities -Self collisions -Joint limits

  12. Why using a PKM as Climbing Robot? Mechanical design • Topology and dimensioning of the PKM • Desing and Development of Devices Manipulation arms Holding devices

  13. TREPA: a CPR for structural frames • Conceptual Design Intended to work on Structural Frames TREPA DISAM, Madrid Spain 2004

  14. TREPA: a CPR for structural frames • Conceptual Design To accomplish postures of 90º between both rings of the robot, it is necessary to modify the spherical and universal joints. Upper ring is at 90º with respect to the lower ring, using the modified universal joints

  15. TREPA • How does it work? Secuence of Displacements Evading a Structural Frame

  16. TREPA • Different kind of task Trepa on pipes

  17. Analysis of the Climb Workspace Postures • Kinematics of the CPR Inverse Kinematics Forward Kinematics Velocity Model Kinematic Scheme

  18. Analysis of the Climb Workspace Postures • Orientation WS It is very important for the control of the margins of movements of the robot. This information can help the user to evade a structural node Orientation WS at the showed posture

  19. Performance Study • Dynamic Simulation This analysis is essential to show that the CPR robot is feasible from the mechanical point of view. Dimentions and weight of the simulated CPR

  20. Performance Study • Dynamics Simulations Initial position Pos-1 Pos-1a Pos-1b Pos-1c Pos-1d

  21. Performance Study • Dynamic Simulation Velocity= 0.4m/s

  22. Performance Study • Dynamic Simulation Velocity= 0.6m/s

  23. Performance Study • Dynamics Simulations • From this kind of studies it is more clear which postures are the best from the dynamic point of view • The dynamic performance of the CPR is affected by the magnitude of its displacement sequence and payload, but more strongly by the velocity.

  24. Experimental Study • Development of a Testbed of TREPA Testbed of TREPA Main Features of the Testbed

  25. Experimental Study • Experiments Real and simulated forces (in Newtons) obtained in each actuator to reach Pos-1b from initial position.

  26. Conclusions • A study of the performance of a parallel robot adapted to climb on structural frames was presented. • The PKM’s have a big potential to being used as a climbing robot.

  27. Current Works • Optimal path planning • Development of two arms • Development of algorithms for cooperative manipulation

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