Cable-driven robot system for operation inside long piles or shafts

The subject invention pertains to systems and methods for controlling an end-effector moving in three-dimensional space within long piles or shafts. Systems can include a fixed base platform, a cable-driven working platform, a cable-driven end-effector, a sensing system including draw wire sensors,...

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Bibliographic Details
Main Authors Lau, Darwin Tat Ming, Siu, Sai Kwan, Chan, Hing Cheung, Yeung, Chung Lai, Kwok, Chun Keung, Chow, Ho Yin, Cheng, Ching Hei
Format Patent
LanguageEnglish
Published 26.08.2025
Subjects
EMBANKMENTS
EXCAVATIONS
FIXED CONSTRUCTIONS
FOUNDATIONS
HYDRAULIC ENGINEERING
SOIL SHIFTING
UNDERGROUND OR UNDERWATER STRUCTURES
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Summary:The subject invention pertains to systems and methods for controlling an end-effector moving in three-dimensional space within long piles or shafts. Systems can include a fixed base platform, a cable-driven working platform, a cable-driven end-effector, a sensing system including draw wire sensors, gyroscopes, sonar sensors, and lidar, a control system in communication with the sensing system, and actuators for cables. The end-effector can be configurable to become a cable-driven parallel end-effector, a serially linked arm, a flexible end-effector or an air-lifting end-tool in cases of cleaning founding layers in bored pile shafts. The control system can be configurable to regulate the lengths of cables through actuators and modulate the positions and orientations of the working platform and the end-effector.
Bibliography:Application Number: US202217804990