Abstract
The project aims to develop a large-scale reconfigurable cable-driven robotic system that can be rapidly deployed to work on a façade. The robot should be adaptable to different working conditions by re-mounting its connection point to an existing frame, and by installing a different tool on the end-effector. To this end, innovative design solutions, where the robot actuators and sensory equipment are integrally installed on the end-effector, are sought. Reconfigurability and deployability opens new challenges related to calibration and parameter estimation, as the installation scenario is generally unknown.
Project Goals
The objectives of the project are:
- developing an optimal design framework to determine a robot architecture that can perform a given task in a multitude of installation conditions,
- perform the mechatronic design of the optimized system, accounting for its specific and non-standard estimation and calibration requirements,
- testing the system on exemplary façade tasks, such as painting and inspection.
Funded by: MICS − Made in Italy Circolare e Sostenibile, Spoke 1 project: Advanced human-machine interaction for continuous transformative manufacturing and robotic systems.
Do you want to know more about this project? Send us a message!
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 