The NIST robocrane

Wiley - Tập 10 Số 5 - Trang 709-724 - 1993
James S. Albus1, Roger Bostelman1, Nicholas G. Dagalakis1
1Robot Systems Division National Institute of Standards and Technology Gaithersburg, MD 20899

Tóm tắt

AbstractThe Robot Systems Division of the National Institute of Standards and Technology (NIST) has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. As long as the cables are all in tension, the load is kinematically constrained and the cables resist perturbing forces and moments with equal stiffness to both positive and negative loads. The result is that the suspended load is constrained with a mechanical stiffness determined by the elasticity of the cables, the suspended weight, and the geometry of the mechanism. Based on these concepts, a revolutionary new type of robot crane, the NIST ROBOCRANE, has been developed that can control the position, velocity, and force of tools and heavy machinery in all six degrees of freedom (x, y, z, roll, pitch, and yaw). Depending on what is suspended from its work platform, the ROBOCRANE can perform a variety of tasks. Examples are: cutting, excavating and grading, shaping and finishing, lifting, and positioning. A 6‐m version of the ROBOCRANE has been built and critical performance characteristics analyzed.

Từ khóa


Tài liệu tham khảo

N. G.Dagalakis J. S.Albus K. R.Goodwin J. D.Lee T.Tsai H.Abrishamian andR. V.Bostelman “Robot crane technology program—final report ” NIST Technical Note 1267 National Institute of Standards and Technology Gaithersburg MD 1989.

10.1115/1.3257146

J.Unger N. G.Dagalakis “Optimum stiffness study for a parallel link robot crane under horizontal force ” Proc. of the Second International Symp. on Robotics and Manufacturing Research Education and Applications Albuquerque NM 1988.

10.1243/PIME_PROC_1965_180_029_02

S. E.Landsberger “Design and Construction of a Cable‐Controlled Parallel Link Manipulator ” Master's thesis Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 1984.

S. E.Landsberger andT. B.Sheridan “A new design for parallel link manipulators ” Proc. of the Systems Man and Cybernetics Conf. Tucson AZ 1985 pp.812–814.

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Wiley

Tập 10 Số 5

709-724

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