Roque Saltaren

Design of the robot-cub (iCub) head

This paper describes the design of a robot head, developed in the framework of the RobotCub project. This project goals consists on the design and construction of a humanoid robotic platform, the iCub, for studying human cognition. The final platform would be approximately 90 cm tall, with 23 kg and with a total number of 53 degrees of freedom. For its size, the iCub is the most complete humanoid robot currently being designed, in terms of kinematic complexity. The eyes can also move, as opposed to similarly sized humanoid platforms. Specifications are made based on biological anatomical and behavioral data, as well as tasks constraints. Different concepts for the neck design (flexible, parallel and serial solutions) are analyzed and compared with respect to the specifications. The eye structure and the proprioceptive sensors are presented, together with some discussion of preliminary work on the face design

Motion planning of a climbing parallel robot

Proposes an application of the Stewart-Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedom parallel robot is described, based on spatial constraint formulation. Finally, the gait pattern and the climbing strategy of the parallel robot is described. The information from this research is being used in an actual climbing parallel robot design at Miguel Hernandez University of Elche (Alicante), Spain.

Parallel robots for autonomous climbing along tubular structures

Abstract This paper proposes the application of the Gough–Stewart (G–S) platform as a climbing robot. The idea of using the parallel G–S platform as a climbing robot is a novel solution to carry out tasks that imply a high risk for workers who have to climb on tubular structures. Some mechanical adaptations allow to convert the G–S platform in an autonomous and teleoperated robot capable to move autonomously along tubular structures (posts, steel wires of bridges, trunks of palms, pipes, etc.) or inside of fluid conducting pipes. To show the capacity of using this G–S platform as climbing robot we propose several mechanical designs capable of climbing through these tubular structures. Taking into account these designs and their functionality, we study the dynamics of some different configurations of these robots. In the second part of the paper we present a first prototype used as a climbing robot, developed to climb on palm trunks. Technical specifications of the system are presented and the control scheme is analyzed. Finally several experiments show the capability of this parallel robot to climb on tubular structures.

A climbing parallel robot: a robot to climb along tubular and metallic structures

This article presents the promising applications that can be obtained from parallel robots for climbing. It explores the most important aspects of the mechanical design and control of climbing parallel robots (CPRs) based on the Stewart-Goughs (S-G) platform for tasks in tubular or metallic structures.

Teleoperated parallel climbing robots in nuclear installations

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.

Robot assembly system for the construction process automation

This paper presents a robot assembly system for the construction industry based on an articulated robot placed over a mobile platform. The assembly process and the robot has been developed under the computer integrated construction concept. Its main task is the assembly of blocks for the erection of walls in industrial buildings.

Kinematics of a robotic 3UPS1S spherical wrist designed for laparoscopic applications

Current robotic orientation surgical devices used to be large, in order to cover the needed workspace and to be rigid enough to resist the forces that occur during surgery. The disadvantages of the large size of the devices are the ergonomics, collisions and interference with the surgeons. This paper presents the first steps that have been carried out on the development of a small spherical wrist for laparoscopic applications.

Design, modelling and implementation of a 6 URS parallel haptic device

Abstract Tactile exploration of remote or virtual environments needs a mechanical interface that allows the operator to interact with the remote zone. Parallel platforms offer advantages that make them suitable for working as master devices in a bilateral teleoperation scheme. This paper proposes the modification of a 6 UPS Gough–Steward platform by interchanging the linear actuators by cable-driven pantographs with rotational electric actuators in order to improve the workspace and output bandwidth. The paper presents the mechanical design, the geometric and dynamic model, and control algorithms of a 6 URS platform developed to be used either as an impedance display that reads the position of the operator and reflects force or as an admittance display that reads the Cartesian forces and reflects positions.

ROAD: domestic assistant and rehabilitation robot

This study introduces the concept design and analysis of a robotic system for the assistance and rehabilitation of disabled people. Based on the statistical data of the most common types of disabilities in Spain and other industrialized countries, the different tasks that the device must be able to perform have been determined. In this study, different robots for rehabilitation and assistance previously introduced have been reviewed. This survey is focused on those robots that assist with gait, balance and standing up. The structure of the ROAD robot presents various advantages over these robots, we discuss some of them. The performance of the proposed architecture is analyzed when it performs the sit to stand activity.

Climbing parallel robot: a computational and experimental study of its performance around structural nodes

This paper presents a study of the kinematics and dynamics performance of a climbing parallel robot (CPR) to avoid nodes on structural frames. To avoid a structural node, a CPR can acquire some determined postures. A series of postures can be combined to generate the convenient movements to climb along the structural node. The postures of a CPR must be studied to detect its feasibility, because the postures can drive the robot near its singular configurations. Also, the forces originated in the actuators to evade the structural nodes are evaluated. Therefore, the goal of this paper is to show that a Stewart-Gough (S-G) parallel platform can be used as a climbing robot, because a CPR can avoid structural nodes easily and elegantly, in contrast with other types of robots. To support the simulation results presented in the first part of this paper, an experimental testbed has been developed to study the dynamic performance of the CPR prototype around a structural node. The results obtained are very interesting, and show that an industrial potential to use the parallel S-G robot as a climbing robot exists.