Publications / 2003 Proceedings of the 20th ISARC, Eindhoven, Holland

Multimodular Complex Riding on Air Cushion Used for Internal Fitting and Finishing Work

Alexej Bulgakow, Marina Bondarenko, Dimitry Krapivin, Sergej Pritchin
Pages 179-182 (2003 Proceedings of the 20th ISARC, Eindhoven, Holland, ISBN 978-90-6814-574-8, ISSN 2413-5844)

Self-Propelled manipulation system which is a mobile robot uses for its movement a chassis, a device on aerostatics supports. The catch of the manipulation system takes its positions at the point of support on the indoors floor and clutches with it. By means of its drives the manipulation system moves chassis into its initial position for fulfilling technological operations. After this, chassis is stabilized in the initial position while the manipulation system is transmitted into its operating position The use of pantograph in the kinematic scheme of the manipulation system enables to mount the drives on the chassis directly as well considerably to extend the zone of service from one point of support. When using the mobile robot indoors on the chassis having a load weight up one ton the dimensions of operating zone are up to four meters high with indoors area up to thousand square meters.

Keywords: manipulation system, mobile robots, aerostatics supports, construction, kinematics