{"id":27316,"date":"2024-01-09T00:05:55","date_gmt":"2024-01-08T23:05:55","guid":{"rendered":"https:\/\/transferencia.umh.es\/?p=27316"},"modified":"2026-10-07T10:54:28","modified_gmt":"2026-10-07T08:54:28","slug":"27316","status":"publish","type":"post","link":"https:\/\/transferencia.umh.es\/en\/2024\/01\/09\/27316\/","title":{"rendered":"Binary Parallel Crawler-Type Locomotion Robot"},"content":{"rendered":"<p><\/p>\n<article style=\"font-family: 'Arial', sans-serif;max-width: 800px;margin: 2rem auto;background-color: #fff;border: 1px solid #B6A19E;border-radius: 8px;padding: 2rem;line-height: 1.6;color: #000\"><!-- TITLE AND SUBTITLE --><\/p>\n<header style=\"border-left: 8px solid #A6192E;padding-left: 1rem;margin-bottom: 1.5rem\">\n<h1 class=\"px-2 my-10 text-lg font-extrabold tracking-normal lg:text-3xl md:mb-3 text-stone-700 dark:text-stone-300 fcircular\">Binary Parallel Crawler-Type Locomotion Robot<\/h1>\n<h2 style=\"margin: 0.3rem 0px 0px;font-size: 1.1rem;font-weight: 400;color: #444444;text-align: justify\">Highly robust, low-power robotic system for movement across surfaces using discrete-state actuators and advanced-geometry joints.<\/h2>\n<\/header>\n<table style=\"border: none\" border=\"0\" cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"> <img loading=\"lazy\" class=\"alignnone size-medium wp-image-27322\" src=\"https:\/\/transferencia.umh.es\/files\/2024\/01\/1_1471207fe2-279x300.png\" alt=\"\" width=\"279\" height=\"300\" srcset=\"https:\/\/transferencia.umh.es\/files\/2024\/01\/1_1471207fe2-279x300.png 279w, https:\/\/transferencia.umh.es\/files\/2024\/01\/1_1471207fe2.png 448w\" sizes=\"(max-width: 279px) 100vw, 279px\" \/><\/td>\n<td><img loading=\"lazy\" class=\"alignnone wp-image-27319\" style=\"text-align: center\" src=\"https:\/\/transferencia.umh.es\/files\/2024\/01\/111_105734d05e-300x107.jpg\" alt=\"\" width=\"468\" height=\"167\" srcset=\"https:\/\/transferencia.umh.es\/files\/2024\/01\/111_105734d05e-300x107.jpg 300w, https:\/\/transferencia.umh.es\/files\/2024\/01\/111_105734d05e-768x275.jpg 768w, https:\/\/transferencia.umh.es\/files\/2024\/01\/111_105734d05e.jpg 850w\" sizes=\"(max-width: 468px) 100vw, 468px\" \/><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<section><\/section>\n<section style=\"margin-bottom: 2rem\">\n<h3 style=\"background-color: #a6192e;color: #fff;padding: 0.5rem 1rem;border-radius: 4px 4px 0 0;font-size: 1.1rem\">TECHNOLOGY DESCRIPTION<\/h3>\n<div style=\"border-left: 4px solid #B6A19E;padding-left: 1rem;background-color: #f9f9f9;padding: 1rem\">\n<p data-path-to-node=\"7\">This device is a mobile robot designed to move across a plane with two degrees of freedom using a simplified yet highly efficient mechanical configuration. It consists of two bodies articulated through a <b data-path-to-node=\"7\" data-index-in-node=\"242\">&#8220;pivot-in-slot&#8221;<\/b> joint, controlled by just two binary (on-off) linear actuators.<\/p>\n<p data-path-to-node=\"8\">The system stands out for two key innovations:<\/p>\n<ul data-path-to-node=\"9\">\n<li>\n<p data-path-to-node=\"9,0,0\"><b data-path-to-node=\"9,0,0\" data-index-in-node=\"0\">Bio-inspired Locomotion:<\/b> It uses a &#8220;crawler-type&#8221; movement. The cycle consists of fixing the rear section, extending the body, fixing the front section (releasing the rear section), and retracting the body. This sequence enables effective and stable movement across horizontal or vertical surfaces.<\/p>\n<\/li>\n<li>\n<p data-path-to-node=\"9,1,0\"><b data-path-to-node=\"9,1,0\" data-index-in-node=\"0\">Singularity-Free Multi-State Geometry:<\/b> Thanks to its design, the robot can achieve <b data-path-to-node=\"9,1,0\" data-index-in-node=\"87\">8 different postures<\/b> using only 2 actuators. While a conventional robot is limited to <span class=\"math-inline\" data-math=\"2^n\" data-index-in-node=\"189\">$2^n$<\/span> postures (where <span class=\"math-inline\" data-math=\"n\" data-index-in-node=\"209\">$n$<\/span> is the number of actuators, resulting in 4 for <span class=\"math-inline\" data-math=\"n=2\" data-index-in-node=\"260\">$n=2$<\/span>), this model doubles that capacity (<span class=\"math-inline\" data-math=\"2 \\times 2^2 = 8\" data-index-in-node=\"301\">$2 \\times 2^2 = 8$<\/span>). In addition, it can switch between the two postures of the same state without passing through uncontrollable configurations (singularities).<\/p>\n<\/li>\n<\/ul><\/div>\n<\/section>\n<p><!-- APPLICATIONS --> <\/p>\n<section style=\"margin-bottom: 2rem\">\n<h3 style=\"background-color: #a6192e;color: #fff;padding: 0.5rem 1rem;border-radius: 4px 4px 0 0;font-size: 1.1rem\">TECHNOLOGY APPLICATIONS<\/h3>\n<div style=\"border-left: 4px solid #B6A19E;padding-left: 1rem;background-color: #f9f9f9;padding: 1rem\">\n<div class=\"w-full px-3 rounded-xl print:!w-full\">\n<div>\n<div class=\"w-full my-8\">\n<div class=\"w-full px-1 !max-w-full prose fcircular prose-stone prose-headings:text-green-innova prose-ul:leading-tight dark:prose-headings:text-stone-300 prose-li:marker:text-green-innova prose-p:text-justify prose-a:text-green-innova hover:prose-a:text-teal-500 prose-img:shadow-md prose-img:w-full prose-img:rounded-xl dark:prose-p:text-stone-400 dark:prose-li:text-stone-400\">\n<p>Possible non-exclusive applications of the proposed robot include its use as a climbing robot for inspection and maintenance tasks at height on vertical concrete or steel structures, avoiding the need for human operators to carry out these hazardous tasks, which involve the risk of falling from the structure and suffering serious injuries. The compactness of the proposed robot and its high mobility using a reduced number of actuators make it particularly suitable for the aforementioned tasks, as well as for any other task requiring movement along flat vertical or horizontal surfaces or surfaces with any other spatial orientation.<\/p>\n<\/div><\/div>\n<\/p><\/div>\n<\/p><\/div>\n<\/p><\/div>\n<\/section>\n<p><!-- ADVANTAGES AND INNOVATIVE ASPECTS --> <\/p>\n<section style=\"margin-bottom: 2rem\">\n<h3 style=\"background-color: #a6192e;color: #fff;padding: 0.5rem 1rem;border-radius: 4px 4px 0 0;font-size: 1.1rem\">ADVANTAGES AND INNOVATIVE ASPECTS<\/h3>\n<div style=\"border-left: 4px solid #B6A19E;padding-left: 1rem;background-color: #f9f9f9;padding: 1rem\">\n<ul>\n<li>\n<p data-path-to-node=\"11,0,0\"><b data-path-to-node=\"11,0,0\" data-index-in-node=\"0\">Mechanical Efficiency:<\/b> Achieves the same number of postures as other robots while saving a complete actuator, resulting in a direct reduction in <b data-path-to-node=\"11,0,0\" data-index-in-node=\"150\">weight, cost, energy consumption and control complexity<\/b>.<\/p>\n<\/li>\n<li>\n<p data-path-to-node=\"11,1,0\"><b data-path-to-node=\"11,1,0\" data-index-in-node=\"0\">Robustness and Simplified Control:<\/b> By using binary actuators (only fully extended or fully retracted states), the system is highly robust to precision-related failures and easier to programme.<\/p>\n<\/li>\n<li>\n<p data-path-to-node=\"11,2,0\"><b data-path-to-node=\"11,2,0\" data-index-in-node=\"0\">Enhanced Stability:<\/b> The arrangement of the actuators and the type of joint provide high structural rigidity, allowing the workspace to be safely expanded.<\/p>\n<\/li>\n<li>\n<p data-path-to-node=\"11,3,0\"><b data-path-to-node=\"11,3,0\" data-index-in-node=\"0\">Overcoming Singularities:<\/b> It can transition between different geometric configurations for the same actuator extension without losing controllability, addressing a common problem in parallel robotics that this design effectively overcomes.<\/p>\n<\/li>\n<\/ul><\/div>\n<\/section>\n<p><!-- DEVELOPMENT STAGE --> <\/p>\n<section style=\"margin-bottom: 2rem\">\n<h3 style=\"background-color: #a6192e;color: #fff;padding: 0.5rem 1rem;border-radius: 4px 4px 0 0;font-size: 1.1rem\">DEVELOPMENT STAGE<\/h3>\n<div style=\"border-left: 4px solid #B6A19E;padding-left: 1rem;background-color: #f9f9f9;padding: 1rem\">\n<p>It is currently in the <b data-path-to-node=\"13,0,0\" data-index-in-node=\"54\">laboratory prototype construction<\/b> phase. The mathematical and kinematic models have already been validated, and the physical prototype will be used to demonstrate the operational advantages in real-world test environments.<\/p>\n<\/div>\n<\/section>\n<p><!-- APPLICATION SECTORS --> <\/p>\n<section style=\"margin-bottom: 2rem\">\n<h3 style=\"background-color: #a6192e;color: #fff;padding: 0.5rem 1rem;border-radius: 4px 4px 0 0;font-size: 1.1rem\">APPLICATION SECTORS<\/h3>\n<div style=\"border-left: 4px solid #B6A19E;padding-left: 1rem;background-color: #f9f9f9;padding: 1rem\">\n<ul>\n<li data-path-to-node=\"20,0,0\">Civil Engineering and Construction.<\/li>\n<li data-path-to-node=\"20,1,0\">Energy Sector (Wind, Solar and Petrochemical).<\/li>\n<li data-path-to-node=\"20,2,0\">Aerospace and Naval Industry.<\/li>\n<li data-path-to-node=\"20,3,0\">Technical Inspection and Non-Destructive Testing (NDT) Companies.<\/li>\n<li data-path-to-node=\"20,4,0\">Service Robotics Manufacturers.<\/li>\n<\/ul><\/div>\n<\/section>\n<p><!-- PRINCIPAL INVESTIGATOR --> <\/p>\n<section style=\"margin-bottom: 2rem\">\n<h3 style=\"background-color: #a6192e;color: #fff;padding: 0.5rem 1rem;border-radius: 4px 4px 0 0;font-size: 1.1rem\">PRINCIPAL INVESTIGATOR<\/h3>\n<div style=\"border-left: 4px solid #B6A19E;padding-left: 1rem;background-color: #f9f9f9;padding: 1rem\">\n<p><strong>Oscar Reinoso Garc\u00eda <\/strong> \u2013 University Institute for Research in Engineering (I3E)<\/p>\n<\/div>\n<p> <!-- CONTACT --> <\/p>\n<footer style=\"border-top: 2px solid #A6192E;padding-top: 1rem;margin-top: 2rem\"><strong>Contact details:<\/strong> <\/p>\n<p style=\"margin: 0;font-weight: bold;color: #a6192e\"><strong>KNOWLEDGE TRANSFER SERVICE<\/strong><\/p>\n<p style=\"margin: 0.3rem 0\"><strong><a style=\"color: #a6192e;text-decoration: none\"><span style=\"color: #000000\">email:<\/span> transferencia@umh.es<\/a><\/strong> <strong>Tel: +34 96 522 2599<\/strong> <strong><span style=\"color: #000000\">web: <\/span><a style=\"color: #a6192e;text-decoration: underline\" href=\"https:\/\/transferencia.umh.es\" target=\"_blank\" rel=\"noopener\">transferencia.umh.es<\/a><\/strong><\/p>\n<\/footer>\n<\/section>\n<\/article>\n<p><\/p>","protected":false},"excerpt":{"rendered":"<p>Binary Parallel Crawler-Type Locomotion Robot<br \/>\nHighly robust, low-power robotic system for movement across surfaces using discrete-state actuators and advanced-geometry joints.<\/p>\n<p>TECHNOLOGY DESCRIPTION<\/p>\n<p>This device is a mobile robot designed to move across a plane with two degrees of freedom using a simplified yet highly efficient mechanical configuration. It consists of two bodies articulated through a &#8220;pivot-in-slot&#8221; joint, [&#8230;]<\/p>\n","protected":false},"author":1503,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_links_to":"","_links_to_target":""},"categories":[1518027,1517946],"tags":[1518004],"_links":{"self":[{"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/posts\/27316"}],"collection":[{"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/users\/1503"}],"replies":[{"embeddable":true,"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/comments?post=27316"}],"version-history":[{"count":0,"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/posts\/27316\/revisions"}],"wp:attachment":[{"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/media?parent=27316"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/categories?post=27316"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/transferencia.umh.es\/en\/wp-json\/wp\/v2\/tags?post=27316"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}