Available Robotics Technology for Applications in Heavy Industry

Published

February 12, 1988

Author(s)

James S. Albus, Nicholas Dagalakis, B Wang, J Unger, Jonathan W. Lee, C W. Yancey

Abstract

The need for automation and the use of robots in the heavy construction industry and large scale assembly is examined. Some problems relating to the operation of cranes, like low load stiffness to rotation in all directions and translation in the horizontal plane, lateral translation load outfitting, etc., are discussed. The effect of these properties on the operation of robots suspended from cranes is considered. A new crane payload suspension mechanism consisting of six wireropes properly oriented in three dimensional space is described. Several examples of the use of this mechanism for the suspension of robot manipulator from overhead, gantry, and boom cranes are presented. An 1/10 and 1/1 scale size models of a robot cane with lateral translation load outfitting capability, which utilize this suspension mechanism, were built and are described in this paper. The stiffness of the manipulator to side loads and moments was studied. Stiffness measurement tests were conducted using the small size laboratory model. The results of these tests for various external loads, heights, and payloads are given.

Proceedings Title

1988 Iron and Steel Exposition and Annual Convention

Conference Dates

February 7-12, 1988

Conference Location

Houston, TX, USA

Conference Title

Houston (TX)

Pub Type

Conferences

Download Paper

Local Download

Keywords

Construction

Citation

Albus, J. , Dagalakis, N. , Wang, B. , Unger, J. , Lee, J. and Yancey, C. (1988), Available Robotics Technology for Applications in Heavy Industry, 1988 Iron and Steel Exposition and Annual Convention, Houston, TX, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820159 (Accessed April 19, 2024)