REMO project: Design, modelling and hydrodynamic simulation of a robot of variable geometry for actuations on maritime disasters. : REMO project: Design, modelling and hydrodynamic simulation of a robot of variable geometry for actuations on maritime disasters. Research director D. Rafael Aracil Santonja Roque Saltarén
rsaltaren@etsii.upm.es
Two concepts of underwater robots : Two concepts of underwater robots A brief introduction about of the REMO project and its advances
Robots based on S-G parallel platforms
REMO I (ROV)
REMO II (AUV/ROV)
Two concepts of underwater robots : Two concepts of underwater robots Main objective
Two concepts about of underwater robots : Two concepts about of underwater robots REMO II: Robot for vectorial precision tasks
Two concepts about of underwater robots : Two concepts about of underwater robots REMO I: Robot for payloads and exploration
Advances on the develop of the robot REMO I : Advances on the develop of the robot REMO I
Advances on the develop of the robot REMO I : Advances on the develop of the robot REMO I
Slide8 : A brief description of the REMO hydrodynamics computational model
GOAL: Allows a dynamics model for robots with variable geometry
TELEOPERATION
CONTROL
Dynamics model for underwater vehicles : Dynamics model for underwater vehicles where:
V = Velocity in the local frame system (robot).
M = Mass matrix (rigid body mass + added mass)
C(V) = Coriolis matrix (to account the effects of the non-centroidal frame
systems of the submarine vehicle).
D(V) = Nonlinear hydrodynamics damping viscous matrix
g(n) = Restoring forces and moments
w = External forces and moments caused by the waves.
t = Thruster forces and moments.
n = Absolute position and orientation vector.
Hydrodynamics damping : Hydrodynamics damping
Hydrodynamics modeling and simulation : Hydrodynamics modeling and simulation
Dimensionless hydrodynamics coefficients. : Dimensionless hydrodynamics coefficients.
Migration to submarine multibody dynamics : Migration to submarine multibody dynamics
Simulations results : Simulations results Robot with changes in the orientation of the helm (Ring-2)
Practical results : Develop of new hydrodynamics models for underwater robots of variable geometry
Develop of two underwater parallel robots prototypes
Industrial agreements
Agreement with a Spanish company (SAES Electrónica) to develop experimental test for inspections applications
Patents:
AUTORES: Rafael Aracil , Roque Saltarén
TÍTULO: “Robot paralelo trepador y deslizante para trabajos en
estructuras y superficies”
REGISTRO: Solicitud P200201666
AUTORES: Rafael Aracil, Roque Saltarén, Juan López Coronado
TÍTULO: Mejoras en la patente principal P200201666
REGISTRO: Solicitud P200302920 Practical results
Recent journal publications on service parallel robots : “Control of Teleoperators with Communication Time Delay trough State Convergence”. Journal of Robotic Systems. Vol 21(4), 167-182 (2004). J.M. Azorín, O. Reinoso, R. Aracil, M. Ferre
“Design, Modelling And Implementation of a 6-URS Parallel Haptic Device”. Robotics and Autonomous Systems. Vol 47, pp1-10 (2004) J.M. Sabater, R. Saltarén, R. Aracil
“Generalized control method by state convergence of teleoperation systems with time delay”. Automatica. Vol. 40/9, pp. 1575-1582, September (2004). J.M. Azorín, O. Reinoso, R. Aracil, M. Ferre.
“Analysis of a Climbing Parallel Robot for Construction Applications”. Computer-Aided Civil and Infrastructure Engineering. Vol. 19 pp. 436 – 445. 2004. R. J. Saltarén, R. Aracil y O. Reinoso.
5. “Stereoscopic Video Images for Telerobotic Applications”. Journal of Robotic Systems 22(3), 131 –146 (2005). M. Ferre, R. Aracil, M. Navas.
6. “ A 6-URS parallel haptic device with open control architecture” J.M. Sabater, R. Saltarén, R. Aracil. ROBOTICA, Cambridge Press, pp1-11, 2004
7. “Climbing Parallel Robot: A Computational and Experimental Study of its Performance Around Structural Nodes". IEEE Transactions on Robotics. R. Saltaren, R. Aracil, O. Reinoso, and M. A. Scarano. (Aceptado W05-041/W2003-018/2005)
8. “Climbing parallel robot CPR: A robot to climb along tubular and metallic structures” IEEE Robotics and Automation Magazine. R. Aracil, R.J. Saltaren, O. Reinoso (Aceptado-2005) Recent journal publications on service parallel robots
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