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Memorias de investigación
Research Publications in journals:
Teleoperated parallel climbing robots in nuclear installations
Year:2007
Research Areas
  • Automatic
Information
Abstract
Abstract: Purpose - The aim of this paper is to present new robotic structures that can be suitable for inspection, maintenance and dismantling tasks in nuclear facilities. Design/methodology/approach - In the first part, two types of parallel robots capable to climb through structures are presented. The kinematics of the proposed platforms is reviewed, with emphasis on the analysis of the singularities. Next section shows the control architecture and the hardware setup of the developed system. Finally, the prototypes developed are showed and some conclusions are obtained. Findings - The slave robot is a parallel structure with the ability to climb over structures and with a very high load capacity. The master device is a parallel device with special characteristics that makes easier the teleoperation of the parallel slave robot. Originality/value - The paper presents a teleoperation system based on parallel platform with 6 degrees of freedom to overcome the classical difficulties of teleoperation in nuclear facilities.
International
Si
JCR
Si
Title
IND ROBOT
ISBN
0143-991X
Impact factor JCR
0,4
Impact info
Volume
33
Journal number
5
From page
381
To page
386
Month
MAYO
Ranking
Participants
  • Participante: Jose Maria Sabater (UMH)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Eugenio Yime . (UPM)
  • Participante: Jose Maria Azorin (UMH)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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