Transcript 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
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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
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Maintenance
Inspection
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Climbing Robots
therefore it is necesary to develop
Robots whit the capability to climb
and performance the tasks which
now require human intervention.
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Climbing Robots
Robugs IIs
Portsmouth University
UK, 1989-1990
Nero
Portsmouth University
UK, 1990-1991
Ninja
Hirose & Yoneda Labs.
1990-1993
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Climbing Robots
Robug III
Climbing Robot for pipes
Portsmouth University 19931995
Siemens AG
1992-1995
Climbing Robot for pipes
Munich University
1992-1995
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Climbing Robots
Roma
Carlos III de Madrid University
Spain,1995-1998
Rest
IAI-CSIC
Spain,1995-1997
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Climbing Robots
A classification.
Climbing Robots
Holding Device
Power supply
P/W Ratio
Number of legs
Electro-magnet
Pneumatic
High (carrier)
Pneumatic-vaccum
Electric
Low (inspection)
-Biped
(Caterpillar)
-Tripod
-Cuadruped
-etc
Clamps
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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
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Why using a PKM as Climbing
Robot?
Video of a PKM
A Climbing Parallel Robot (CPR).
UMH Elche, Spain 2002
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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
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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
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Why using a PKM as Climbing
Robot?
Mechanical design
• Topology and dimensioning of the
PKM
• Desing and Development of Devices
Manipulation arms
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Holding devices
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TREPA: a CPR for structural
frames
• Conceptual Design
TREPA
DISAM, Madrid Spain 2004
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Intended to work on Structural
Frames
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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.
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Upper ring is at 90º with respect to the
lower ring, using the modified
universal joints
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TREPA
• How does it work?
Secuence of Displacements
Evading a Structural Frame
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TREPA
• Different kind of task
Trepa on pipes
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Analysis of the Climb Workspace
Postures
• Kinematics of the CPR
Inverse Kinematics
Forward Kinematics
Velocity Model
Kinematic Scheme
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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
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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
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Performance Study
• Dynamics Simulations
Initial position Pos-1
Pos-1a
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Pos-1b
Pos-1c
Pos-1d
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Performance Study
• Dynamic Simulation
Velocity= 0.4m/s
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Performance Study
• Dynamic Simulation
Velocity= 0.6m/s
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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.
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Experimental Study
• Development of a Testbed of TREPA
Main Features of the Testbed
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Testbed of TREPA
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Experimental Study
• Experiments
Real and simulated forces (in Newtons) obtained in each
actuator to reach Pos-1b from initial position.
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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.
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Current Works
• Optimal path planning
• Development of two arms
• Development of algorithms for
cooperative manipulation
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