Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
Teleoperated parallel climbing robots in nuclear installations
Año:2007
Áreas de investigación
  • Automática
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
IND ROBOT
ISSN
0143-991X
Factor de impacto JCR
0,4
Información de impacto
Volumen
33
DOI
Número de revista
5
Desde la página
381
Hasta la página
386
Mes
MAYO
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • 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)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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