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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

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5 Author(s)
Kovacic, Z. ; LARICS-Lab. for Robot. & Intell. Control Syst., Univ. of Zagreb, Zagreb, Croatia ; Balac, B. ; Flegaric, S. ; Brkic, K.
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The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

Published in:

Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on

Date of Conference:

5-7 Oct. 2010