Applications of the NIST ROBOCRANE.
Applications of the NIST ROBOCRANE.
(469 K)
Bostelman, R.; Albus, J.; Pagalakis, N.; Jacoff, A.;
Gross, J. L.
Robotics and Manufacturing, Vol. 5, 403-407, 1994.
Keywords:
robotics; cranes; construction equipment; measurements;
cables; winches
Abstract:
The Robot Systems Division of the National Institute of
Standards and Technology (NIST) has recently been
experimenting with a variety of applications for the
NIST ROBOCRANE. The ROBOCRANE design utilizes the basic
idea of the Stewart Platform parallel link manipulator.
The unique feature of the NIST approach is to use cables
as the parallel links and to use winches as the
actuators. Depending on what is suspended from its work
platform, the ROBOCRANE has land, air, water, and space
applications. A 2-meter version and a 6-meter version
of the ROBOCRANE have been built and critical
performance characteristics analyzed. Through these and
other conceptual models, example applications for
ROBOCRANE are: flexible mobility, heavy material
handling, and flexible fixturing on land, rescue and
personnel/equipment maneuverability in air; subsea
pipe-laying/removal, lifting, and salvage from stable or
unstable references on water; and lightweight, long
distance lunar rover capabilities in space. All
applications of ROBOCRANE include a large work volume,
six degree-of-freedom control, precision
maneuverability, and enhanced crane capabilities. This
paper describes ROBOCRANE's present and future
performance measurements, control system designs, and
the conceputal designs for a multitude of applications.
Building and Fire Research Laboratory
National Institute of Standards and Technology
Gaithersburg, MD 20899