Naslov
Light-weight Mobile Robot for Hydrodynamic Treatment of Concrete and Metal Surfaces

Autori
Kovačić, Zdenko ; Balać, Borislav ; Flegarić, Stjepan ; Brkić, Kristijan ; Orsag, Matko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 1st International Conference on Applied Robotics for the Power Industry CARPI 2010 / - : Institute of Electrical and Electronics Engineers (IEEE), 2010

ISBN
978-1-4244-6634-4

Skup
2010 1st International Conference on Applied Robotics for the Power Industry

Mjesto i datum
Montréal, Kanada, 05.10.2010. - 07.10.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robot ; hydrodynamic treatment ; robot control ; dam repair

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA