Closed loop cable robot for large horizontal workspaces
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 suc...
| Autores: | , , , , , |
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| Formato: | artículo |
| Fecha de publicación: | 2021 |
| País: | España |
| Recursos: | Universidad de Castilla-La Mancha |
| Repositorio: | RUIdeRA. Repositorio Institucional de la UCLM |
| OAI Identifier: | oai:ruidera.uclm.es:10578/46692 |
| Acesso em linha: | https://doi.org/10.12989/sss.2021.27.2.397 https://hdl.handle.net/10578/46692 |
| Access Level: | acceso abierto |
| Palavra-chave: | Automatic inspection Cable robot Flat large structures Large workspace |
| Resumo: | 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. |
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