Smart Structures and Systems

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Closed loop cable robot for large horizontal workspaces

  • Juarez-Perez, Sergio (Escuela de Ingeniería Industrial y Aeroespacial de Toledo (UCLM)) ;
  • Gonzalez-Rodriguez, Antonio (Escuela de Ingeniería Industrial y Aeroespacial de Toledo (UCLM)) ;
  • Rubio-Gomez, Guillermo (Escuela de Ingeniería Industrial y Aeroespacial de Toledo (UCLM)) ;
  • Rodriguez-Rosa, David (Escuela de Ingeniería Industrial y Aeroespacial de Toledo (UCLM)) ;
  • Ottaviano, Erika (Facolta di Ingegneria Industriale di Cassino (UNICAS)) ;
  • Castillo-Garcia, Fernando J. (Escuela de Ingeniería Industrial y Aeroespacial de Toledo (UCLM))
  • Received : 2020.07.16
  • Accepted : 2020.10.10
  • Published : 2021.02.25
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Abstract

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.

Keywords

Acknowledgement

The research described in this paper was financially supported by Research Fund for Coal and Steel grant agreement No 800687 in the framework of DESDEMONA project. Authors wish to thank the financial Support provided by the university of Castilla-La Mancha and the European Social Fund through the pre-doctoral funding [2019/451].

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