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Smart Structures and Systems
  Volume 27, Number 2, February 2021, pages 397-406

Closed loop cable robot for large horizontal workspaces
Sergio Juárez-Pérez, Antonio González-Rodriguez, Guillermo Rubio-Gómez, David Rodríguez-Rosa, Erika Ottaviano and Fernando J. Castillo-Garcia

    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.
Key Words
    cable robot; large workspace; flat large structures; automatic inspection
(1) Sergio Juárez-Pérez, Antonio González-Rodriguez, Guillermo Rubio-Gómez, David Rodríguez-Rosa, Fernando J. Castillo-Garcia:
Escuela de Ingenier&3237;a Industrial y Aeroespacial de Toledo (UCLM), Spain;
(2) Erika Ottaviano:
Facoltá di Ingegneria Industriale di Cassino (UNICAS), Italy.

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