Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Force Sensor of a Climbing Robot Derived from Its Own Flexible Structure
Year:2012
Research Areas
  • Engineering,
  • Civil engineering and architecture
Information
Abstract
One of the most important design constraints of a climbing robot is its own weight. When links or legs are used as a locomotion system they tend to be composed of special lightweight materials, or four?bars?linkage mechanisms are designed to reduce the weight with small rigidity looses. In these cases, flexibility appears and undesirable effects, such as dynamics vibrations, must be avoided at least when the robot moves at low speeds. The knowledge of the real tip position requires the computation of its compliance or stiffness matrix and the external forces applied to the structure. Gravitational forces can be estimated, but external tip forces need to be measured. This paper proposes a strain gauge system which achieves the following tasks: (i) measurement of the external tip forces, and (ii) estimation of the real tip position (including flexibility effects). The main advantages of the proposed system are: (a) the use of external force sensors is avoided, and (b) a substantial reduction of the robot weight is achieved in comparison with other external force measurement systems. The proposed method is applied to a real symmetric climbing robot and experimental results are presented.
International
Si
JCR
Si
Title
International Journal of Advanced Robotic Systems
ISBN
1729-8806
Impact factor JCR
0,375
Impact info
Volume
Journal number
From page
1
To page
10
Month
SIN MES
Ranking
Participants
  • Autor: Carlos Moron Fernandez (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de sensores y actuadores
  • Departamento: Tecnología de la Edificación
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