NIMS3D: A Novel Rapidly Deployable Robot for 3-Dimensional Applications

Abstract

In this paper, we present NIMS3D, a novel, rapidly deployable cable based robotic system capable of accurate positioning within its 3-dimensional span. The system is designed for indoor and outdoor use. In NIMS3D, a node moves via three cables which enable navigation in the 3D volume spanned by the system. The hardware is composed primarily of commercially available components and the software consists of three tiers: low level motor control, motion planning, and user interface. The proposed system has health monitoring capabilities that seek to ensure that robot integrity is not compromised. We provide theoretical and empirical analysis of system characteristics and present results that advocate its use for a variety of applications such as topographical and optical intensity mapping. Finally, we propose a number of future enhancements and plans for the system