Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Cable based robotic work platform for construction
The Robotic Work Platform is an approach to kinematically constraining the suspension system of an otherwise too flexible common construction site crane and to developing a simple multipurpose high precision crane-suspended tool. Basically it is an inverted Stewart Platform, which is a parallel link mechanism, kinematically constrained and with six degrees of freedom. It consists of two levels based on equilateral triangles, actuated via steel cables and electric winches. The platform is self-contained with power supplies, control boards and winches. It is remote controlled via an RF link. The hardware control mechanism consists of three parts, the measuring of the tension in and the travel of the cables and the control of the winches. For these measurements absolute digital encoders are used, which are connected to a digital data acquisition board. An 8 bit Graycode is transformed into real position data by using a transformation table. Thus the positioning and orientation of the platform relative to its own coordinates is determined, whereas a laser based spatial positioning system, ODYSSEY, is used to monitor the position of the whole platform with respect to global coordinates. Connected to a personal computer running AutoCAD, the 3D position and orientation of the platform can be controlled and monitored in real-time. The software control algorithms also run under real-time conditions and are designed to be speed efficient. In a planned robotic testbed application the Robotic Work Platform will provide a base for various suspended robotic workcells. A gantry crane will be used to position the suspended system - consisting in this case of the Robotic Work Platform and a robotic masonry workcell - into its workspace while the Robotic Work Platform provides fine positioning and orientation of the workcell. Changes and disturbances - wind gusts, dust, something hitting the testbed - will be simulated for proper evaluation and will show the adaptability of the system to construction site conditions. Future planned applications include welding of vertical pipes, vertical drilling, or maintenance of oil production sites, even using the system in contaminated areas, such as nuclear facilities and waste areas.
Cable based robotic work platform for construction
The Robotic Work Platform is an approach to kinematically constraining the suspension system of an otherwise too flexible common construction site crane and to developing a simple multipurpose high precision crane-suspended tool. Basically it is an inverted Stewart Platform, which is a parallel link mechanism, kinematically constrained and with six degrees of freedom. It consists of two levels based on equilateral triangles, actuated via steel cables and electric winches. The platform is self-contained with power supplies, control boards and winches. It is remote controlled via an RF link. The hardware control mechanism consists of three parts, the measuring of the tension in and the travel of the cables and the control of the winches. For these measurements absolute digital encoders are used, which are connected to a digital data acquisition board. An 8 bit Graycode is transformed into real position data by using a transformation table. Thus the positioning and orientation of the platform relative to its own coordinates is determined, whereas a laser based spatial positioning system, ODYSSEY, is used to monitor the position of the whole platform with respect to global coordinates. Connected to a personal computer running AutoCAD, the 3D position and orientation of the platform can be controlled and monitored in real-time. The software control algorithms also run under real-time conditions and are designed to be speed efficient. In a planned robotic testbed application the Robotic Work Platform will provide a base for various suspended robotic workcells. A gantry crane will be used to position the suspended system - consisting in this case of the Robotic Work Platform and a robotic masonry workcell - into its workspace while the Robotic Work Platform provides fine positioning and orientation of the workcell. Changes and disturbances - wind gusts, dust, something hitting the testbed - will be simulated for proper evaluation and will show the adaptability of the system to construction site conditions. Future planned applications include welding of vertical pipes, vertical drilling, or maintenance of oil production sites, even using the system in contaminated areas, such as nuclear facilities and waste areas.
Cable based robotic work platform for construction
Seilgeführte Roboter-Arbeitsplattform für das Bauwesen
Richter, T. (Autor:in) / Lorenc, S.J. (Autor:in) / Bernhold, L.E. (Autor:in)
1998
8 Seiten, 7 Bilder, 4 Quellen
Aufsatz (Konferenz)
Englisch
Bauindustrie , Bautechnik , Baukran , Baustellenarbeit , Flexibilität , Arbeitsweise , Tragseil , Freiheitsgrad , Funkfernsteuerung , Positionierung , Positionierungsgenauigkeit , Positionsgeber , Laserstrahl , Lasermesstechnik , Personal Computer , mobiler Roboter , Algorithmus , Echtzeitbetrieb , Plattform , Arbeitsbühne , Koordinatenmessgerät , praktische Untersuchung , Aufhängung , Laser , Halteseil