Light-weight Mobile Robot for Hydrodynamic Treatment of Concrete and Metal Surfaces (CROSBI ID 567735)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kovačić, Zdenko ; Balać, Borislav ; Flegarić, Stjepan ; Brkić, Kristijan ; Orsag, Matko
engleski
Light-weight Mobile Robot for Hydrodynamic Treatment of Concrete and Metal Surfaces
The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and a tool-to-surface distance deviation. Ultrasound sensors mounted on a robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.
mobile robot ; hydrodynamic treatment ; robot control ; dam repair
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Podaci o prilogu
2010.
objavljeno
Podaci o matičnoj publikaciji
Institute of Electrical and Electronics Engineers (IEEE)
978-1-4244-6634-4
Podaci o skupu
2010 1st International Conference on Applied Robotics for the Power Industry
predavanje
05.10.2010-07.10.2010
Montréal, Kanada