Full Production Plant Automation in Industry Using Cable Robotics with High Load Capacities and Position Accuracy

Culla, David; Gorrotxategi, Jose; Rodríguez, Mariola; Izard, Jean Baptiste; Hervé, Pierre Ellie; Cañada, Jesús

doi:10.1007/978-3-319-70836-2_1

Cited by 8 publications

(3 citation statements)

References 8 publications

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“…Only in the nineties the RoboCrane ® was introduced [15]: this equipment was the first to allow both position and orientation of its EE to be automatically controlled with six cables. Since then, numerous applications have been proposed and successfully implemented by researchers: large-scale additive manufacturing [16], laser-based manufacturing [1], contour crafting [17], marine handling systems [18], warehouse retrieval systems [6], large-scale handling systems [19,20], facade cleaning [21] and installation [7] systems, motion simulators [22], large-aperture telescopes [23], measurement devices [24][25][26][27], rehabilitation devices [28], and haptic interfaces [29].…”

Section: Introductionmentioning

confidence: 99%

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

Idá

Mattioni

2022

Actuators

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Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload. Thus, CDPRs share several types of equipment with cranes, such as winches, hoists, and pulleys. On the other hand, since CDPRs rely on model-based automatic controllers for their operations, standard crane equipment may severely limit their performance. In particular, to achieve reasonably accurate feedback control of the EE pose during the process, the length of the cable inside the workspace of the robot should be known. Cable length is usually inferred by measuring winch angular displacement, but this operation is simple and accurate only if the winch transmission ratio is constant. This problem called for the design of novel actuation schemes for CDPRs; in this paper, we analyze the existing architectures of so-called servo-winches (i.e., servo-actuators which employ a rotational motor and have a constant transmission ratio), and we propose a novel servo-winch concept and compare the state-of-the-art architectures with our design in terms of pros and cons, design requirements, and applications.

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Section: Introductionmentioning

confidence: 99%

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

Idá

Mattioni

2022

Actuators

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“…The most well-known example of such robots is aerial cameras for stadiums [11] working with 3 DOF and 4 cables, and the first concept for manipulating all DOFs of a load dates back to the 1990s [12]. Today, they have already proven their benefits, in particular for large scale industrial applications [13,14,15]; indeed, the principle of a CDPR can be adapted to move heavy payloads over large dimensions. For the same reasons, CDPRs have being theorized in the past for several construction applications, from manipulating elements, contour crafting, to building inspection [9,16].…”

Section: Introductionmentioning

confidence: 99%

A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

Iturralde¹,

Feucht²,

Hu³

et al. 2020

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)

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The installation of curtain wall modules (CWMs) is a risky activity carried out in the heights and often under unfavorable weather conditions. CWMs are heavy prefabricated walls that are lifted normally with bindings and cranes. High stability is needed while positioning in order not to damage the fragile CWMs. Moreover, this activity requires high precision while positioning brackets, the modules, and for that reason, intensive survey and marking are necessary. In order to avoid such inconveniences, there were experiences to install façade modules in automatic mode using robotic devices. In the research project HEPHAESTUS, a novel system has been developed in order to install CWMs automatically. The system consists of two sub-systems: a cable driven parallel robot (CDPR) and a set of robotic tools named as Modular End Effector (MEE). The platform of the CDPR hosts the MEE. This MEE performs the necessary tasks of installing the curtain wall modules. There are two main tasks that the CDPR and MEE need to achieve: first is the fixation of the brackets onto the concrete slab, and second is the picking and placing of the CWMs onto the brackets. The first integration of the aforementioned system was carried out in a controlled environment that resembled a building structure. The results of this first test show that there are minor deviations when positioning the CDPR platform. In future steps, the deviations will be compensated by the tools of the MEE and the installation of the CWM will be carried out with the required accuracy automatically.

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“…The Cablecrane from Fig. 1.4B combines a high accuracy with a high nominal payload of 3000Kg (Culla et al, 2017). The accuracy can be increased with an adequate model of the cable like the dynamic model of one degree of freedom device from (Yangming Li et al, 2016).…”

Section: Figure 12 A)mentioning

confidence: 99%

Cable-driven Parallel Robot to Simulate the Underwater Environment in Humanoids

Rodriguez-Barroso¹

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En primer lugar, le agradezco a Dios, por haberme dado la oportunidad de estar aquí y por su constante ayuda en todo momento y en toda circunstancia.Agradezco enormemente el apoyo más solicitado de lo normal de mis padres, mi hermana y el resto de toda mi familia por estar ahí. Me he alegrado de compartir con ellos mis alegrías y me ha dolido hacerlo con los sufrimientos.Todo esto no hubiera sido posible sin la inestimable labor de mi Director de Tesis Roque Saltarén, desde la oportunidad que me brindó y su confianza para iniciar esta tesis hasta las etapas finales. Por estar ahí cuando ha hecho falta, por su ayuda tanto técnica y científica como emocional.Agradezco a todos aquellos compañeros del Grupo de Robots y Máquinas Inteligentes que he conocido y que me han aportado ayuda técnica, pero, más importante, un aprendizaje humano de lo que significa ser investigador. Rafael Aracil, que con sus clases de control me convenció para entrar en este campo. A Darly Peña, por ser quién estuvo ahí cuando llegué al Grupo, siempre dispuesta para ayudar a todos. A Gonzalo Ejarque y Gabriel Poletti, que con su dedicación y gran esfuerzo en el desarrollo de sus tesis doctorales con Avatar y DiverBot fueron mi principal fuente de inspiración. A Miguel Pérez Bayas, que fue quien adelantó la investigación sobre CDPR y sobre la que partí en la presente investigación. A Juan Cely, por su concepción de lo que significa ser un Grupo, colaborar y ayudarse mutuamente. A Gerardo Portilla, por su visión para desarrollar proyectos ambiciosos, por su profunda filosofía y mente abierta para cualquier tema. A Marco Carpio, porque sabe que además de la robótica está el factor humano, la organización de equipos y la prudencia. A Oz Yakrangi, porque supo ver que ciencia y religión pueden coexistir. También agradezco a otros muchos compañeros de trabajo del CAR y la ETSII. A Ángel, porque siempre está ahí para ayudar con los prototipos, a Rosa y Carlos, por su paciencia con nuestros trámites burocráticos y nuestras compras.A los alumnos de máster Yaru Tang y Yuhua Tang, por su gran ilusión, espléndido trabajo y dedicación y por pasar un buen tiempo aprendiendo juntos y tratando de realizar las etapas iniciales del control del cabrestante. Asi mismo, agradecer a los alumnos Eyal Zimmerman y Daniel Bernstein, por continuar los trabajos con el prototipo CARcinos hacia su segunda versión.Muchas otras personas han hecho de esta tesis un hecho:

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Full Production Plant Automation in Industry Using Cable Robotics with High Load Capacities and Position Accuracy

Cited by 8 publications

References 8 publications

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

Cable-driven Parallel Robot to Simulate the Underwater Environment in Humanoids

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