Robotic inspection systems are increasingly being used in both civil and industrial infrastructure or facilities to inspect hard- or dangerous-to-reach critical places. Cable-driven hyper-redundant robots, which take their design inspiration and functionality from the movement of snakes, are highly articulated and hence very flexible robotic structures attached to a fixed base that are actuated and manipulated by intricate systems of cables and joints.
This article discusses a multi-objective optimization study to determine the optimal matrix for the routing of the actuating cable system in order to minimize the cable load on the robot and maximize the robot’s payload.
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CASE STUDY
The Arvedi Group approached the University of Trieste to find a solution to the uneven distribution of material inside the hopper of their blast furnace in Trieste, Italy.
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CASE STUDY
In this example, a tracked bulldozer was simulated to evaluate the dynamic behavior of the vehicle on different terrains and with different obstacles. The model can also be used to calculate the loads operating on the vehicle’s structure..
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