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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: 14 June 2013

Jaime Martínez Verdú, José María Sabater Navarro, Vicente José González Penella, Nicolás Manuel García Aracil and Ángel Miguel López Buendía

Currently, the majority of designed robots are not well‐matched to their applications because designers do not employ a clear and organized design process. Additionally, the high…

341

Abstract

Purpose

Currently, the majority of designed robots are not well‐matched to their applications because designers do not employ a clear and organized design process. Additionally, the high cost of robotic systems makes it difficult to financially justify the use of this technology. The purpose of this paper is to present a new design process that gathers conceptual, kinematic and dynamic design, finite elements method (FEM), functional design and virtual reality control. Furthermore, kinematic and dynamic design can be obtained by traditional theory or standard computer tools (SCT) to accelerate the design. Through SCT fitted mathematical models and non‐mathematical virtual models may be acquired.

Design/methodology/approach

This paper investigates the design process of a robot. First, the entire methodology is presented (including two new techniques for solving the kinematic and dynamic questions via SCT). Second, a case study using Autodesk® Inventor™ has been analysed to assess the feasibility of the method and techniques.

Findings

The more stages of the design process are considered, the more successful solutions become. Designers can obtain a mathematical solution for an analytically unsolvable robot fitting a mathematical model by SCT. To obtain a rapid design, designers must consider using SCT and following just in need (JIN) philosophy to find a non‐mathematical virtual model.

Originality/value

This paper presents an innovative guide for robotic engineers and researchers which covers the whole design process and new techniques for obtaining mathematical and non‐mathematical solutions.

Details

Industrial Robot: An International Journal, vol. 40 no. 4
Type: Research Article
ISSN: 0143-991X

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