euron winter school march 2007 disam pkm as climbing robot grmi-disam saltaren r., aracil r., yime...

EURON Winter School March 2007DISAM

PKM as Climbing Robot

GRMI-DISAMSaltaren R., Aracil R., Yime E. & Moreno H.

Speaker: Hector A. Moreno

EURON Winter School 2007Parallel Robots: Theory and

ApplicationsBenidorm, Spain, March 2007


Climbing RobotsWhy 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


Climbing Robots

therefore it is necesary to develop Robots whit the capability to climb

and performance the tasks which now require human intervention.


Climbing Robots

Robugs IIsPortsmouth University

UK, 1989-1990

NeroPortsmouth University

UK, 1990-1991

NinjaHirose & Yoneda Labs.

1990-1993


Climbing Robots

Climbing Robot for pipes

Siemens AG1992-1995

Robug III Portsmouth University

1993-1995

Climbing Robot for pipes

Munich University1992-1995


Climbing Robots

RomaCarlos III de Madrid

University Spain,1995-1998

RestIAI-CSIC

Spain,1995-1997


Climbing RobotsA classification.

Climbing Robots

Holding Device Power supply Number of legsP/W Ratio

Pneumatic

Electric

Electro-magnet

Pneumatic-vaccum

Clamps

High (carrier)

Low (inspection)

-Biped (Caterpillar)

-Tripod-Cuadruped

-etc


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



Video of a PKM

A Climbing Parallel Robot (CPR).

UMH Elche, Spain 2002



There are several exciting subjects which are involved in the development of a CPR:

-Control

-Path planning -Mechanical Design

-Teleoperation



ControlPneumatic 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



Mechanical design• Topology and dimensioning of the

PKM• Desing and Development of

Devices

Manipulation arms Holding devices


TREPA: a CPR for structural frames

• Conceptual Design

TREPA DISAM, Madrid Spain 2004

Intended to work on Structural Frames


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


TREPA

• How does it work?

Evading a Structural Frame

Secuence of Displacements


TREPA• Different kind of task

Trepa on pipes


Analysis of the Climb Workspace Postures

• Kinematics of the CPRInverse Kinematics

Velocity Model

Kinematic Scheme

Forward Kinematics


Analysis of the Climb Workspace Postures

• Orientation WSIt 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


Performance Study

• Dynamic SimulationThis analysis is essential to show that the CPR robot is feasible from the mechanical point of view.

Dimentions and weight of the simulated CPR


Performance Study

• Dynamics Simulations

Initial position Pos-1

Pos-1a Pos-1b Pos-1c Pos-1d


Performance Study• Dynamic

Simulation

Velocity= 0.4m/s


Performance Study• Dynamic

Simulation

Velocity= 0.6m/s


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.


Experimental Study

• Development of a Testbed of TREPA

Main Features of the Testbed Testbed of TREPA


Experimental Study

• Experiments

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


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.


Current Works

• Optimal path planning • Development of two arms• Development of algorithms for

cooperative manipulation

euron winter school march 2007 disam pkm as climbing robot grmi-disam saltaren r., aracil r., yime...

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