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Numerical controlled robot crawler: new resource for industries with large scale products

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Abstract

This paper introduces a novel mobile automation resource for industries with large scale products. The inherent challenges of large structures for an automation system are discussed and requirements for a mobile machine are derivated. Based on the kinematic investigation, a hybrid kinematic mechanical structure is developed to fulfill the requirements. The characteristics of hybrid kinematics especially for the kinematic transformation and the resulting advantages are introduced. The necessary adhesion system to enable a safe and reliable movement on different surfaces is described. Additionally, the control concept is presented and the intrinsic challenges of using an industrial machine tool control for a mobile robot are shown. Finally, first results of the experimental application are presented.

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Acknowledgments

The results presented in this paper are based on the work of the project “Thermas” founded by the “Hamburg Ministry of Economy and Transportation” in cooperation with Lufthansa AG. We also want to thank the Siemens AG for supporting us in NC-control issues.

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Authors and Affiliations

  1. Institute of Aircraft Production Technology, Hamburg University of Technology, Denickestr. 17, 21073, Hamburg, Germany

    C. Schlosser & T. Schüppstuhl

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  1. C. Schlosser
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  2. T. Schüppstuhl
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Correspondence to C. Schlosser.

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Schlosser, C., Schüppstuhl, T. Numerical controlled robot crawler: new resource for industries with large scale products. Prod. Eng. Res. Devel. 8, 719–725 (2014). https://doi.org/10.1007/s11740-014-0565-8

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  • DOI: https://doi.org/10.1007/s11740-014-0565-8

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