Equipment
In-Flight Robot
Description
The in-flight robot is designed to perform multiple tasks while the centrifuge is spinning. The robot is capable of articulating in three linear dimensions and rotating around one axis. The robot can carry several tools that aid in executing various tasks. These include:
- In-flight sand and clay model construction
- Ground excavation
- Injection of contaminants or chemical stabilizers
- Placement of soil reinforcement in clay slopes
- Pile driving, static cone penetration and vane in-situ testing
- Use of static/cyclic/dynamic loading devices
The ability to conduct these field operations in-flight increases the accuracy and realism of the experiment. Researchers may fabricate custom tools to use with the in-flight robot.
For more information, please see our overview.
Performance
| Feature | X | Y | Z | Θ |
|---|---|---|---|---|
| Stroke | 0.4 m | 0.4 m | 0.35 m | ± 175° |
| Max. Speed | 10 cm/s | 10 cm/s | 5 cm/s | 5°/s |
| Load Capacity | ± 1000 N | ± 1000 N | ± 5000 N | ± 5 nm |
| Driving Mode | AC servo motor and brake | AC servo motor and brake | AC servo motor and brake | Rotary actuator and digital servo |
| Accuracy | ± 1.0 mm | ± 1.0 mm | ± 1.0 mm | ± 0.5° |
The in-flight robot can carry a maximum of three tools.
