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Article
Publication date: 1 September 2006

José M. Sabater, Roque J. Saltarén, Rafael Aracil, Eugenio Yime and José M. Azorín

The aim of this paper is to present new robotic structures that can be suitable for inspection, maintenance and dismantling tasks in nuclear facilities.

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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.

Details

Industrial Robot: An International Journal, vol. 33 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 August 2001

Anna Kochan

Reports on a European project to develop a robotic system for maintaining live power lines, outlines the stereoscopic vision and voice control systems that enable a robot to…

294

Abstract

Reports on a European project to develop a robotic system for maintaining live power lines, outlines the stereoscopic vision and voice control systems that enable a robot to perform the tasks through teleoperation, and summarises the results that have been achieved so far.

Details

Industrial Robot: An International Journal, vol. 28 no. 4
Type: Research Article
ISSN: 0143-991X

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