Cable Robot for Non-Standard Architecture and Construction: a Dynamic Positioning System

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Moreira, E (Author) Other; Pinto, AM (Author) FEUP; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP; Germano Veiga (Author) FEUP; Lima, J (Author) Other; José Pedro Sousa (Author) FAUP; Pedro Luís Cerqueira Gomes da Costa (Author) FEUP

Conference proceedings International

Title: Proceedings of the IEEE International Conference on Industrial Technology

Pages: 3184-3189

2015 IEEE International Conference on Industrial Technology, ICIT 2015

17 March 2015 through 19 March 2015

Indexing

ISI Web of Knowledge - 6 Citations

Scopus - 8 Citations

Other information

Authenticus ID: P-00G-EF2

DOI: 10.1109/icit.2015.7125568

Abstract (EN): In the past few years, cable-driven robots have received some attention by the scientific community and the industry. They have special characteristics that made them very reliable to operate with the level of safeness that is required by different environments, such as, handling of hazardous materials in construction sites. This paper presents a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. This robot has a rotating claw and it is controlled by a set of 4 cables that allow 4 degrees of freedom. In addition to the robot, this paper introduces a Dynamic Control System (DCS) that controls the positioning of the robot and assures that the length of cables is always within a safe value. Results show that traditional force-feasible approaches are more influenced by the pulling forces or the geometric arrangement of all cables and their positioning is significantly less accurate than the DCS. Therefore, the architecture of the SPIDERobot is designed to enable an easily scaling up of the solution to higher dimensions for operating in realistic environments.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6