Eduardo Castillo-Castañeda

arXiv2026

Facade Inspection: Design, Prototyping, and Testing of a Hybrid Cable-Driven Parallel Robot

In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are being supplemented by technological advancements, especially in robotics, which offer innovative solutions for more efficient and precise inspections. This work focuses on the development of a five degree of freedom hybrid cable-driven parallel robot designed for vertical facade inspections. A detailed robot's design and CAD modeling, with a particular focus on a torque transmission mechanism that simplifies the motion of two cables using a single motor is presented. Two degrees of freedom are driven by cables, while the remaining three are driven by a Sarrus-type mechanism and a pan-tilt mechanism. The inverse kinematics models are also developed. A prototype is presented, involving additive manufacturing. A control system for tracking a zig-zag trajectory, commonly used in inspection tasks, was experimentally validated.

physics.class-ph↗

arXiv2024

A five-bar mechanism to assist finger flexion-extension movement: system implementation

The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of society. Among the different types of injuries, hand injuries occur most frequently. These injuries require a rehabilitation process in order for the hand to regain its functionality. This article presents the fabrication and instrumentation of an end-effector prototype, based on a five-bar configuration, for finger rehabilitation that executes a natural flexion-extension movement. The dimensions were obtained through the gradient method optimization and evaluated through Matlab. Experimental tests were carried out to demonstrate the prototype's functionality and the effectiveness of a five-bar mechanism acting in a vertical plane, where gravity influences the mechanism's performance. Position control using fifth-order polynomials with via points was implemented in the joint space. The design of the end-effector was also evaluated by performing a theoretical comparison, calculated as a function of a real flexion-extension trajectory of the fingers and the angle of rotation obtained through an IMU. As a result, controlling the two degrees of freedom of the mechanism at several points of the trajectory assures the end-effector trajectory and therefore the fingers' range of motion, which helps for full patient recovery.

cs.RO↗