A Tool to Improve Efficiency in Large Scale Manufacturing

Bostelman, Roger V.; Shackleford, William P.; Proctor, Frederick M.; Albus, James S.; Lytle, Alan M.

doi:10.22260/isarc2002/0032

Cited by 3 publications

(4 citation statements)

References 4 publications

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“…CDPR-related research has been reported since 1984, originally for underwater applications. The RoboCrane project [25], developed under the Defense Advanced Research Project Agency (DARPA), extended CDPR applications to land, sea, air, and space. CDPRs show high load-to-weight ratio, while relying on stable configurations, flexibility, and maneuverability over rough terrain surfaces.…”

Section: Mobile Cdprsmentioning

confidence: 99%

RUDE-AL: Roped UGV Deployment Algorithm of an MCDPR for Sinkhole Exploration

Orbea,

Cruz Ulloa,

Del Cerro

et al. 2023

Sensors

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The presence of sinkholes has been widely studied due to their potential risk to infrastructure and to the lives of inhabitants and rescuers in urban disaster areas, which is generally addressed in geotechnics and geophysics. In recent years, robotics has gained importance for the inspection and assessment of areas of potential risk for sinkhole formation, as well as for environmental exploration and post-disaster assistance. From the mobile robotics approach, this paper proposes RUDE-AL (Roped UGV DEployment ALgorithm), a methodology for deploying a Mobile Cable-Driven Parallel Robot (MCDPR) composed of four mobile robots and a cable-driven parallel robot (CDPR) for sinkhole exploration tasks and assistance to potential trapped victims. The deployment of the fleet is organized with node-edge formation during the mission’s first stage, positioning itself around the area of interest and acting as anchors for the subsequent release of the cable robot. One of the relevant issues considered in this work is the selection of target points for mobile robots (anchors) considering the constraints of a roped fleet, avoiding the collision of the cables with positive obstacles through a fitting function that maximizes the area covered of the zone to explore and minimizes the cost of the route distance performed by the fleet using genetic algorithms, generating feasible target routes for each mobile robot with a configurable balance between the parameters of the fitness function. The main results show a robust method whose adjustment function is affected by the number of positive obstacles near the area of interest and the shape characteristics of the sinkhole.

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Section: Mobile Cdprsmentioning

confidence: 99%

RUDE-AL: Roped UGV Deployment Algorithm of an MCDPR for Sinkhole Exploration

Orbea,

Cruz Ulloa,

Del Cerro

et al. 2023

Sensors

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“…The moveable platform, or "lower triangle," is kinematically constrained by maintaining tension in six cables that terminate in pairs at the vertices of an "upper triangle" formed by the cable support points [5]. The RoboCrane concept has been modified and adapted for numerous specialized applications [6,7,8]. The configuration used in this project is the Tetrahedral Robotic Apparatus (TETRA).…”

Section: Nist Robocranementioning

confidence: 99%

Towards an Intelligent Job Site: Status of the NIST Automated Steel Construction Test Bed

Lytle¹,

Saidi²,

Stone³

et al. 2003

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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ABSTRACT:The NIST Construction Metrology and Automation Group, in cooperation with the NIST Intelligent Systems Division, is researching robotic structural steel placement through an ongoing program entitled "Performance of Innovative Technologies for Automated Steel Construction." This program, initiated in response to an American Institute of Steel Construction request for a 25 % reduction in time to erect steel structures, focuses on the development of an Automated Steel Construction Test Bed to research advanced concepts in crane automation, laser-based site metrology, laser radar (LADAR) imaging, construction component tracking, and web-enabled 3D-visualization. This test facility also provides a mechanism to investigate paths towards an Intelligent Job Site as described in the FIATECH Capital Projects Technology Roadmap.

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“…One of the first CDPR was Robocrane is shown in Figure 1, which was developed in 1989 in the USA by the National Institute of Standards and Technology (NIST). 1,2 CDPR Robocrane was intended for handling cargo in ports, during the construction of bridges, and so on. CDPR Robocrane is a Gough-Stuart platform suspended on six cables.…”

Section: Introductionmentioning

confidence: 99%

“…If in a CDPR all drive cables are above the EE, and gravity acts as a virtual cable to maintain balance, then such the EE is called suspended. 1,6 –8 If in the CDPR at least one drive cable is below the EE, then such a CDPR is called not suspended. 9,10…”

Section: Introductionmentioning

confidence: 99%

Simulation of suspended cable-driven parallel robot on SimulationX

Jomartov¹,

Tuleshov²,

Kamal³

et al. 2023

International Journal of Advanced Robotic Systems

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Currently, research is being carried out on a new type of parallel robots, such as cable-driven parallel robot. The cable-driven parallel robot are parallel robots with flexible (cables), with a large workspace, with high speeds and accelerations of the end effector. In the cable-driven parallel robot, cables can only work in tension, and cable-driven parallel robot lose their performance when they are compressed. This feature severely limits the development and application of cable-driven parallel robots and requires further development of cable-driven parallel robot modeling on various software systems. Currently, Adams multibody dynamics software is widely used to create and test virtual prototypes of mechanical systems. But for cable-driven parallel robot modeling, the Adams program is quite complex and expensive to use. In this article, the simulation of the cable-driven parallel robot is carried out on the SimulationX software. Unlike other software packages, SimulationX is more accessible and cheaper and is well suited for cable-driven parallel robot simulation. Cable-driven parallel robot modeling on SimulationX allows you to identify the main design flaws even before its prototype is made. A model on the SimulationX software of a suspended cable-driven parallel robot with a point mass end effector, taking into account the elastic-dissipative properties of cables, was developed. The prototype of suspended cable-driven parallel robot with a point mass end effector was manufactured. Experimental researches of the prototype of the suspended cable-driven parallel robot with a point mass end effector confirmed the correctness of the application of the model on SimulationX for practical calculations.

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A Tool to Improve Efficiency in Large Scale Manufacturing

Cited by 3 publications

References 4 publications

RUDE-AL: Roped UGV Deployment Algorithm of an MCDPR for Sinkhole Exploration

RUDE-AL: Roped UGV Deployment Algorithm of an MCDPR for Sinkhole Exploration

Towards an Intelligent Job Site: Status of the NIST Automated Steel Construction Test Bed

Simulation of suspended cable-driven parallel robot on SimulationX

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