Closed loop cable robot for large horizontal workspaces

Fernando J. Castillo-Garcia; Sergio Juárez-Pérez; Antonio González-Rodriguez; Guillermo Rubio-Gómez; David Rodríguez-Rosa; Erika Ottaviano

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자료유형: 학술저널

저자정보: Fernando J. Castillo-Garcia (University of Castilla-La Mancha) Sergio Juárez-Pérez (University of Castilla-La Mancha) Antonio González-Rodriguez (University of Castilla-La Mancha) Guillermo Rubio-Gómez (University of Castilla-La Mancha) David Rodríguez-Rosa (University of Castilla-La Mancha) Erika Ottaviano (University of Cassino and Southern Lazio)

저널정보: 국제구조공학회 Smart Structures and Systems, An International Journal Smart Structures and Systems, An International Journal Vol.27 No.2

발행연도: 2021.1

수록면: 397 - 406 (10page)

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Inspection and maintenance of civil structures are important issues for sustainability of existing and new infrastructures. Classical approach relies on large human activities eventually performed in unsafe conditions. This paper proposed a non-invasive solution for inspecting horizontal surface such as decks of bridges. The proposal presented here is based in cable-driven robots and allows to inspect large surfaces maintaining a very low vertical occupancy in comparison to the conventional architecture of this kind of robot. Using closed cables loop instead of a set of cables a device with low motorization power and very large workspace is designed and prototyped. As example of control an inverse dynamics technique is applied to control the end-effector where inspection tool is located, e.g., a vision system. Experimental results demonstrate that this novel device allows to inspect large horizontal surfaces, with low motorization and low vertical occupancy.

#cable robot #large workspace #flat large structures #automatic inspection

참고문헌 (28)

참고문헌 신청

Ghasem Abbasnejad / 2015 / Direct geometricostatic problem of underconstrained cable-driven parallel robots with n cables / IEEE Transactions on Robotics 31(2):468~478

Ram S. Adhikari / 2014 / Automated condition assessment of concrete bridges with digital imaging / Smart Structures and Systems, An International Journal 13(6):901~925

Albus, J. / 1993 / The nist robocrane / J. Robot. Syst 10(5):709~724

Paul Bosscher / 2007 / Cable-suspended robotic contour crafting system / Automation in Construction 17(1):45~55

CableRobot Simulator / Cable-driven parallel robots –motion simulation in a new dimension

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