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The NIST SPIDER, A Robot Crane.

James Albus1, Roger Bostelman1, Nicholas Dagalakis1

  • 1National Institute of Standards and Technology, Gaithersburg, MD 20899.

Journal of Research of the National Institute of Standards and Technology
|January 6, 2017
PubMed
Summary
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Researchers developed the NIST SPIDER, a novel robot crane using a Stewart Platform with cable-driven actuators. This innovative design offers precise control over heavy loads in six degrees of freedom for various industrial applications.

Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • The National Institute of Standards and Technology (NIST) Robot Systems Division has explored advanced robot crane concepts.
  • Existing robotic systems often face limitations in precise load manipulation and force control.
  • Parallel link manipulators, like the Stewart Platform, offer potential for enhanced kinematic control.

Purpose of the Study:

  • To develop a novel robot crane system capable of precise six-degree-of-freedom control.
  • To investigate the application of cable-driven parallel mechanisms for robotic manipulation.
  • To create a versatile robotic platform for diverse industrial tasks.

Main Methods:

  • Utilized the Stewart Platform parallel manipulator architecture.
Keywords:
Stewart platformcableskinematically constrainedparallel link manipulatorrobot cranessix degrees of freedomsix meter modelwork platform

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  • Employed cables as parallel links and winches as actuators for load control.
  • Developed the Stewart Platform Instrumented Drive Environmental Robot (SPIDER) system.
  • Analyzed the performance characteristics of a 6-meter SPIDER prototype.

    • Main Results:

    • Demonstrated a robot crane capable of controlling position, velocity, and force in six degrees of freedom (x, y, z, roll, pitch, yaw).
    • Achieved kinematic constraint and consistent stiffness for suspended loads through tensioned cables.
    • The SPIDER system exhibited potential for a variety of tasks including cutting, grading, shaping, and heavy lifting.

    Conclusions:

    • The NIST SPIDER represents a revolutionary advancement in robot crane technology.
    • Cable-driven Stewart Platforms offer a unique and effective approach to precise load handling.
    • The developed system has broad applicability across multiple industrial sectors requiring high-precision manipulation.