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

2. EURON Winter School March 2007 DISAM 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) CleaningMaintenanceInspection

3. EURON Winter School March 2007 DISAM Climbing Robots therefore it is necesary to develop Robots whit the capability to climb and performance the tasks which now require human intervention.

4. EURON Winter School March 2007 DISAM Climbing Robots Robugs IIs Portsmouth University UK, 1989-1990 Nero Portsmouth University UK, 1990-1991 Ninja Hirose & Yoneda Labs. 1990-1993

5. EURON Winter School March 2007 DISAM Climbing Robots Climbing Robot for pipes Siemens AG 1992-1995 Robug III Portsmouth University 1993- 1995 Climbing Robot for pipes Munich University 1992-1995

6. EURON Winter School March 2007 DISAM Climbing Robots Roma Carlos III de Madrid University Spain,1995-1998 Rest IAI-CSIC Spain,1995-1997

7. EURON Winter School March 2007 DISAM Climbing Robots A classification. Climbing Robots Holding DevicePower supplyNumber of legsP/W Ratio Pneumatic Electric Electro-magnet Pneumatic-vaccum Clamps High (carrier) Low (inspection) -Biped (Caterpillar) -Tripod -Cuadruped -etc

8. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM Why using a PKM as Climbing Robot? Video of a PKM A Climbing Parallel Robot (CPR). UMH Elche, Spain 2002

10. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM TREPA: a CPR for structural frames Conceptual Design TREPA DISAM, Madrid Spain 2004 Intended to work on Structural Frames

14. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM TREPA How does it work? Evading a Structural Frame Secuence of Displacements

16. EURON Winter School March 2007 DISAM TREPA Different kind of task Trepa on pipes

17. EURON Winter School March 2007 DISAM Analysis of the Climb Workspace Postures Kinematics of the CPR Inverse Kinematics Velocity Model Kinematic Scheme Forward Kinematics

18. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM Performance Study Dynamics Simulations Initial position Pos-1 Pos-1a Pos-1b Pos-1c Pos-1d

21. EURON Winter School March 2007 DISAM Performance Study Dynamic Simulation Velocity= 0.4m/s

22. EURON Winter School March 2007 DISAM Performance Study Dynamic Simulation Velocity= 0.6m/s

23. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM Experimental Study Development of a Testbed of TREPA Main Features of the Testbed Testbed of TREPA

25. EURON Winter School March 2007 DISAM Experimental Study Experiments Real and simulated forces (in Newtons) obtained in each actuator to reach Pos-1b from initial position.

26. EURON Winter School March 2007 DISAM 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. EURON Winter School March 2007 DISAM Current Works Optimal path planning Development of two arms Development of algorithms for cooperative manipulation