DocumentCode
840933
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
Volume
13
Issue
1
fYear
2006
fDate
3/1/2006 12:00:00 AM
Firstpage
16
Lastpage
22
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;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/MRA.2006.1598049
Filename
1598049
Link To Document