Pipe cleaning and inspection robot is one of the new concepts of professional service robots. Sewer pipes are typically of non-man-entry classification (less than 0.8 m diameter). In this paper, a pipe-cleaning and inspection robot specifically designed for this function is proposed. This paper presents a new approach for design and development of cleaning robots in an unknown pipe workspace. To do so, we propose a new cutting method for cleaning work as well as an underwater inspection method. In this study, we discuss a communication which makes the cleaning robot navigate the sewer pipe. Finally, we also evaluate the performance of our proposed inspection and cleaning processes via experiments and real tests. Also, we verify the effectiveness of the proposed methods through computer simulations.
In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.
Abstract. This paper will describe the kinematics and dynamics of parallel robot named Delta with 4 degree of freedom (dof). In this study, the model of Delta parallel kinematic robot 3 dofs combined with a mechanism, which is a kinematic chain with one dof of its links identified angle between the base and moving platform as the end-effector. The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse formulas are generally shown simply and the direct formulas are also described. Besides, this paper deal with the direct and inverse dynamics to determine the relations between the generalized accelerations, velocities, coordinates of the end-effector and the articular forces based on simulation and control. Parallel robots have become the important machines to manufacturing using for various purposes in industry and life. The dynamic model of parallel robot with 4 dof is presented, and an adaptive control strategy based kinematic and dynamic models for this robot is described. Experiments were implemented to evaluate the responding of controlling system based on dynamics and kinematics controlling method for tracking desired trajectories. The results show that the use of the suitable control system based on kiematic and dynamic model can provide the high performance of the robot.
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