Light-weight Mobile Robot for Hydrodynamic Treatment of Concrete and Metal Surfaces

Kovačić, Zdenko and Balać, Borislav and Flegarić, Stjepan and Brkić, Kristijan and Orsag, Matko (2010) Light-weight Mobile Robot for Hydrodynamic Treatment of Concrete and Metal Surfaces. = Light-weight Mobile Robot for Hydrodynamic Treatment of Concrete and Metal Surfaces. In: 2010 1st International Conference on Applied Robotics for the Power Industry, 05-07.10.2010., Montreal, Kanada.

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Official URL: http://ieeexplore.ieee.org/document/5624424/?arnum...

Abstract

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and a tool-to-surface distance deviation. Ultrasound sensors mounted on a robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): mobile robot, hydrodynamic treatment, robot control, dam repair
Subjects: TECHNICAL SCIENCE > Basic technical sciences
Divisions: 100 Department of Design > 110 Chair of Design
600 Department of Naval Engineering and Marine Technology > 620 Chair of Marine Structures Design
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 15 Nov 2016 14:36
Last Modified: 15 Nov 2016 14:36
URI: http://repozitorij.fsb.hr/id/eprint/7033

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