Title :
A climbing parallel robot: a robot to climb along tubular and metallic structures
Author :
Aracil, Rafael ; Saltarén, Roque J. ; Reinoso, Oscar
Author_Institution :
Escuela Tecnica Superior de Ingenieros Industriales, Universidad Politecnica de Madrid, Spain
fDate :
3/1/2006 12:00:00 AM
Abstract :
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-Gough´s (S-G) platform for tasks in tubular or metallic structures.
Keywords :
mobile robots; position control; robot kinematics; Stewart-Gough platform; climbing parallel robot; mechanical design; metallic structures; tubular structures; Climbing robots; Hydraulic actuators; Kinematics; Leg; Legged locomotion; Parallel robots; Payloads; Robot vision systems; Robotics and automation; Service robots;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2006.1598049
