DocumentCode :
2691478
Title :
Flip-and-slide magnetic paired robots for aircraft manufacturing and maintenance
Author :
Karasic, Geoffrey ; Asada, Harry
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
694
Lastpage :
700
Abstract :
A paired robot system is developed for a class of tasks where two end-effectors work together; one placed inside and the other outside a confined box. The work was motivated by practical needs for aircraft wing box manufacturing and maintenance. Two robots, each carrying an end-effector, are engaged using strong magnets attracting each other and thereby supporting each body against gravity. The robots must move across the surface of the box, while avoiding interference with obstacles fixed to the surface. A novel paired robot with magnetic feet is presented that can flip and go over an obstacle while tightly holding each body against gravity. Furthermore, the paired robots can automatically be loaded and unloaded from the confined box through a small entry hole by flipping and sliding on the box surface. First the task conditions and functional requirements are described, and then the design concept of the flip-and-slide magnetic paired robots is presented. Kinematic and static models of the system are obtained, and the conditions for successful flipping and sliding are analyzed. Control algorithms for detaching as well as engaging magnetic feet are obtained. A prototype flip-and-slide paired robot system is designed and the feasibility of the approach is demonstrated.
Keywords :
aerospace components; aerospace robotics; aircraft maintenance; aircraft manufacture; end effectors; magnets; multi-robot systems; aircraft maintenance; aircraft manufacturing; aircraft wing box manufacturing; end-effector; flip-and-slide magnetic paired robot; kinematic model; magnetic feet; static model; Foot; Joints; Magnetic separation; Mobile robots; Robot kinematics; Skin;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5979811
Filename :
5979811
Link To Document :
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