用于大型水平工作空间的闭环电缆机器人

IF 2.1 3区 工程技术 Q2 ENGINEERING, CIVIL Smart Structures and Systems Pub Date : 2021-02-01 DOI:10.12989/SSS.2021.27.2.397
F. Castillo-García, Sergio Juárez-Pérez, A. González-Rodríguez, Guillermo Rubio-Gómez, David Rodríguez-Rosa, E. Ottaviano
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引用次数: 1

摘要

民用结构的检查和维护是现有和新基础设施可持续性的重要问题。传统方法依赖于最终在不安全条件下进行的大型人类活动。本文提出了一种检测桥梁桥面等水平表面的非侵入性解决方案。这里提出的方案基于缆索驱动机器人,与这种机器人的传统结构相比,它可以检查大型表面,保持非常低的垂直占用率。利用闭合电缆回路代替一组电缆,设计并原型化了一种机动功率低、工作空间大的装置。作为控制的示例,应用逆动力学技术来控制检查工具所在的末端执行器,例如视觉系统。实验结果表明,这种新型设备可以检测大的水平表面,机动化程度低,垂直占用率低。
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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 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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来源期刊
Smart Structures and Systems
Smart Structures and Systems 工程技术-工程:机械
CiteScore
6.50
自引率
8.60%
发文量
0
审稿时长
9 months
期刊介绍: An International Journal of Mechatronics, Sensors, Monitoring, Control, Diagnosis, and Management airns at providing a major publication channel for researchers in the general area of smart structures and systems. Typical subjects considered by the journal include: Sensors/Actuators(Materials/devices/ informatics/networking) Structural Health Monitoring and Control Diagnosis/Prognosis Life Cycle Engineering(planning/design/ maintenance/renewal) and related areas.
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