CableBOTParallel Cable Roboticsfor ImprovingMaintenance and Logistics of Large-ScaleProducts

Industry and Transport Division - TECNALIA

Mariola Rodríguez -Tecnalia

The need

• Robotization of production is one of the main solutions to lower manufacturing costs in order to keep production in Europe. But due to some limitations such as the limited workspace of commercial robots, or the huge cost of the civilian engineering needed for large Gantry robots, manipulation over large workspaces is still done with traditional non automated cranes.

• Handling of large and heavy parts in large workspaces is labor-intensiveand most of the time, involves multiple cranes and several operators which increases the possibility of labour accidents. This conventional solution has several drawbacks including limited flexibility and orientation capabilities.

Low efficiency

High costs

Labor accidents

Limited flexibility

and orientation

capabilities

The solution

• COGIRO: A six-degree-of-freedom cable-suspended robot for handling, positioning

and assembling parts developed by TECNALIA and CNRS-LIRMM

• It can be described as Automatic fully controlled handling system based on a cable

driven robot

• Its main advantages

• Improve the working conditions

• Guarantee the safety in the handling

• Be able to use it in automated mode and in manual mode.

• Avoid the swinging of the parts during handling

• Reduce the setting time after movements

• Improve the productivity

• Reduce the cycle timesVideo broadcasted by Euronews http://goo.gl/NJGcWY

Large scale demonstrator

COGIRO: Europe Biggest Cable-Driven Parallel Robot

• 8 computer controlled winches

• 6 degree of freedom

• 8 pulleys

• Standard reticular frame easy to install without cementation

• Mobile platform and the dedicated fixture attached to it

Large scale demonstrator

COGIRO: Europe Biggest Cable-Driven Parallel Robot

• Footprint: 15*11*6m3

• Workspace up to 80% of the footprint

• Payload: 500kg

• Rotación X: +/- 40º

• Rotación Y: +/- 40º

• Rotación Z: 100 º (-70º; +35º)

• Industrial controller: B&R Automation

• Mean positioning accuracy: 50mm

• Mean positioning repeatability: 3mm

The impact

• Parallel cable-driven robotics provides the best cost effective solution to automate operations for logistics and transport over large or very largeworkspaces.

• They intend to:

• Bring flexiblility

• Bring precision and control in movement

• Increase productivity by 50%

• Reduce the overall life-cycle costs by 30%

• Be used in complex manipulation tasks and in multiple industrial sectors

• Reduce the work accidents reduced by 50%

• Allow stronger penetration of advanced automation into small or medium-scale industrial sectors

• Thanks to:

• having a safe and controlled movement in the 6 degree of freedom (no swinging of the part)

• only one operator is required for handling the part

• no complex and expensive fixtures are needed

• part is firmly held by 8 cables coming from different directions

High efficiency

Cost-effective sol

Decrease labor

accidents

Flexible solution

Controlled and

precise

manipulation

Automated

manipulation

Industrial applications: Handling and assembly of aeronautical parts

• Positioning and assembly of aeronautical parts controlling the orientation

• Operation mode: Automatic operation

COGIRO. Cable Driven Parallel Robot (Large parts assembly)https://youtu.be/YA2yzc0Vz5w

Industrial applications: Assembly of a scaled footbridge of ACCIONA

• Construction application: Handling and assembling of large parts

• Scaled footbridge: 3 x 4 x 1,5 m (length, width, height)

• Operation mode: Manual operation

http://youtu.be/An_i8xoMXDchttp://youtu.be/px8vwNerkuo

Cables directed jointed to the parts to be moved

Cables directed connected to a generic mobile platform

and manipulation done by means of electromagnets

Industrial applications: Logistics - Handling of boxes

COGIRO. Cable Driven Parallel Robot (Logistics)https://youtu.be/dmTjrPZqMfo

• Logistics application: High density pallet storage

• Operation mode: Automatic operation

Industrial applications: Aircraft maintenance operations

COGIRO: painting application

COGIRO. Cable Driven Parallel Robot (Large surface painting)https://youtu.be/Q05F7Kb96wI

Automatic operations in facadesCleaning, inspection, maintenance, assembly

xy

z

Other applications for cable driven robots

Demos performed with COGIRO

SUMMARY OF DEMOShttps://goo.gl/g5EshS

Thank you for your attention!!!

More information: Mariola Rodríguez mariola.rodriguez@tecnalia.com