Flexible Line Recovery Robot
A manufacturer-facing starting specification for a bench/chamber demonstrator. Dimensions and component choices are deliberately presented as development targets, not certified production specifications.
Prototype envelope
| Item | Development target | Purpose |
|---|---|---|
| Recovery field | ~1000 × 600 mm shallow chamber | Controlled visible handling area |
| Handling modules | 4 independent modules | Local acquire, lift, slide, transfer and release |
| Primary vision | 1 overhead RGB-D camera | Geometry / endpoint / crossing estimation |
| Local sensing | Optional 2–4 cameras | Occlusion and close-range verification |
| Physical sensing | Tension/force + motor current | Slip, load and action verification |
| Control | Real-time controller + supervisory computer | Motion safety plus state planning |
| Output | Straightening / loose-coil path | Controlled recovered-line handoff |
Functional module set
Compliant guide/grip
Low-damage contact surfaces, adjustable preload, position feedback and controlled release.
Drive
Low-speed reversible actuation with encoder feedback and conservative force/tension limits.
Perception
Depth-aware line segmentation, endpoint candidates, crossings/loops and confidence estimates.
State engine
Stores segments, crossings, loops, tension state, module ownership and last verified state.
Planner
Selects manipulation primitives using predicted risk and current line state.
Verifier
Compares expected versus observed geometry and physical response before committing state.
Prototype sequence
- Build one compliant handling module and instrument it.
- Demonstrate acquire → slide → create slack → release on a single line.
- Add a second module and demonstrate controlled transfer.
- Add overhead depth perception and line-state reconstruction.
- Run simple crossing and loop scenarios.
- Add verification and rollback fault injection.
- Scale to four modules and the complete chamber.
Manufacturer handoff data
Mechanical
CAD concept, module envelope, materials/contact surfaces, mounting points and service access.
Electrical
Motor/encoder interfaces, sensing inputs, safety interlocks and emergency-release architecture.
Software
State machine, perception interface, planner primitives, verifier and fault-state behavior.
Validation
Defined test matrix, measured tension, recovery time, success rate, intervention count and material-damage checks.