Integration of a parallel cable-driven robot on an existing building façade

Jean-Baptiste Izard 1 Marc Gouttefarde 2 Cédric Baradat 1 David Culla 1 Damien Sallé 1
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In order to use a cable-driven parallel robot to inspect an existing surface, a straightforward solution consists in fixing the robot components on this surface. In most cases, however, there are conditions that limit these fixations, for example structural reasons since the frame of the surface has probably not been specifically calculated to withstand the forces generated by the parallel cable-driven robot. In the particular case of inspection of the façade of a building, civil engineering spe-cifications apply, which may drastically reduce the engineering possibilities from the point of view of the parallel cable-driven robot designers. This paper introduc-es a detailed example of implementation of a parallel cable-driven robot on the Media-TIC building located in Barcelona in Spain. In this highly technological building, the main façade parallel cable-driven robot in intended to work as a sen-sor for monitoring the environment, but also as an interface between the building and its occupiers. The various constraints - due to normative, structural and aes-thetic reasons - that were tackled are described in the paper, along with the elected detailed design of the robot that complies with these constraints.
Type de document :
Communication dans un congrès
First international conference on cable-driven parallel robots, Stuttgart, Germany. Springer, pp.149-164, 2012, Cable-Driven Parallel Robots
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737648
Contributeur : Marc Gouttefarde <>
Soumis le : mardi 2 octobre 2012 - 14:00:04
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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  • HAL Id : lirmm-00737648, version 1

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Jean-Baptiste Izard, Marc Gouttefarde, Cédric Baradat, David Culla, Damien Sallé. Integration of a parallel cable-driven robot on an existing building façade. First international conference on cable-driven parallel robots, Stuttgart, Germany. Springer, pp.149-164, 2012, Cable-Driven Parallel Robots. 〈lirmm-00737648〉

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