Development of a climbing robot for grit blasting operations in shipyards

This paper deals with the design and construction of a climbing robot for performing grit blasting operations in shipyards. The robot is based on a double sliding platform that uses permanent magnets for attachment. It is lightweight and compact and can move up and along the shipside with any inclin...

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Published in2009 IEEE International Conference on Robotics and Automation pp. 200 - 205
Main Authors Faina, A., Souto, D., Deibe, A., Lopez-Pena, F., Duro, R.J., Fernandez, X.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.05.2009
Subjects
Cleaning
Climbing robots
Electrical equipment industry
Humans
Inspection
Marine vehicles
Mobile robots
Paints
Sandblasting
Service robots
Online AccessGet full text
ISBN1424427886
9781424427888
ISSN1050-4729
DOI10.1109/ROBOT.2009.5152584

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Abstract This paper deals with the design and construction of a climbing robot for performing grit blasting operations in shipyards. The robot is based on a double sliding platform that uses permanent magnets for attachment. It is lightweight and compact and can move up and along the shipside with any inclination while grit blasting the surface to pre-specified surface quality levels. It can also rotate to compensate for hull curvature and to avoid obstacles while performing its task. The blasting operation is modulated by a vision based quality control system that is used by the mission control system to adapt the blasting parameters in order to attain the desired quality levels while maximizing the surface area the robot strips per unit time.
AbstractList This paper deals with the design and construction of a climbing robot for performing grit blasting operations in shipyards. The robot is based on a double sliding platform that uses permanent magnets for attachment. It is lightweight and compact and can move up and along the shipside with any inclination while grit blasting the surface to pre-specified surface quality levels. It can also rotate to compensate for hull curvature and to avoid obstacles while performing its task. The blasting operation is modulated by a vision based quality control system that is used by the mission control system to adapt the blasting parameters in order to attain the desired quality levels while maximizing the surface area the robot strips per unit time.
Author Fernandez, X.
Duro, R.J.
Lopez-Pena, F.
Souto, D.
Faina, A.
Deibe, A.
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StartPage 200
SubjectTerms Cleaning
Climbing robots
Electrical equipment industry
Humans
Inspection
Marine vehicles
Mobile robots
Paints
Sandblasting
Service robots
Title Development of a climbing robot for grit blasting operations in shipyards
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