Development of a climbing robot for grit blasting operations in shipyards

Authors:
A. Faíña;D. Souto;A. Deibe;F. López-Peña;R. J. Duro;X. Fernández
Affiliations:
Integrated Group for Engineering Research, University of Coruña, Spain;Integrated Group for Engineering Research, University of Coruña, Spain;Integrated Group for Engineering Research, University of Coruña, Spain;Integrated Group for Engineering Research, University of Coruña, Spain;Integrated Group for Engineering Research, University of Coruña, Spain;GPI research group, University of Vigo, Spain
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 2
Cited 0

The Cricket location-support system

MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Optimized multichannel filter bank with flat frequency response for texture segmentation

EURASIP Journal on Applied Signal Processing

Quantified Score

Hi-index	0.00

Visualization

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.