Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

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 r...

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Hauptverfasser: Kovacic, Zdenko, Balac, Borislav, Flegaric, Stjepan, Brkic, Kristijan, Orsag, Matko
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Sprache:eng
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Conferences
Power industry
Service robots
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creator Kovacic, Zdenko
Balac, Borislav
Flegaric, Stjepan
Brkic, Kristijan
Orsag, Matko
description 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 tool-to-surface distance deviation. Ultrasound sensors mounted on the 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.
doi_str_mv 10.1109/CARPI.2010.5624424
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subjects Conferences
Power industry
Service robots
title Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces
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