Integration of a Parallel Cable-Driven Robot on an Existing Building Façade

  • Jean-Baptiste Izard
  • Marc Gouttefarde
  • Cedric Baradat
  • David Culla
  • Damien Sallé
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 12)


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 specifications apply, which may drastically reduce the engineering possibilities from the point of view of the parallel cable-driven robot designers. This paper introduces 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 sensor for monitoring the environment, but also as an interface between the building and its occupiers. The various constraints—due to normative, structural and aesthetic reasons—that were tackled are described in the paper, along with the elected detailed design of the robot that complies with these constraints.


Force Sensor Wind Load Lateral Stiffness Cable Tension Transversal Stiffness 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The authors would like to thank El Consorci and the 22@ Office of the City of Barcelona, as well as the team of Cloud9 and in particular Enric Ruiz-Geli, the architect of the building, for allowing us to consider this application on the Media-TIC building and their participation to its design. The contribution of the company B&R to the project with the design of the system control is also greatly acknowledged.


  1. 1.
  2. 2.
    SpyderCam: (2012).
  3. 3.
    Merlet, J.-P.: Kinematics of the wire-driven parallel robot MARIONET using linear actuators. In: IEEE International Conference of Robotics and Automation, Passadena, CA, USA (2008)Google Scholar
  4. 4.
    Merlet, J.-P., Daney, D., Winch, A., Needs, A.A.: A portable, modular parallel wire crane for rescue operations. In: IEEE International Conference on Robotics and Automation. pp. 2834–2839, Anchorage, AK, USA (2010). doi: 10.1109/ROBOT.2010.5509299
  5. 5.
    Ming, A., Higuchi, T.: Study on multiple degree-of-freedom positioning mechanism using wires. II: Development of a planar completely restrained positioning mechanism. 3, Tokyo, Japan : Japan Society for Precision Engineering. Int. J. Jpn. Soc. Precis. Eng. 28, 235–242 (1991)Google Scholar
  6. 6.
    Gouttefarde, M., Gosselin, M.: Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Robot. 22(3), 434–445 (2006)Google Scholar
  7. 7.
    Ottaviano, E., Ceccarelli, M., Paone, A., et Carbone, G.: A low-cost easy operation 4-cable driven parallel manipulator. In: IEEE International Conference on Robotics and Automation, pp. 4008–4013. Barcelona, Spain (2005). doi: 10.1109/ROBOT.2005.1570734
  8. 8.
    Hiller, M., Fang, S., Mielczarek, R., Verhoeven, R., Franitza, D.: Design, analysis and realization of tendon-based parallel manipulators. 4, s.l. : Elsevier, Mechanism Mach. Theor. 40, 429–445 (2005). doi: 10.1016/j.mechmachtheory.2004.08.002
  9. 9.
    Lafourcade, P., Zheng, Y.-Q. and Liu, X.-W.: Stiffness analysis of wire-driven kinematic manipulators. In: 11th World Congress in Mechanism and Machine Science, China Machine Press, Tianjin, China (2004)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Jean-Baptiste Izard
    • 1
  • Marc Gouttefarde
    • 2
  • Cedric Baradat
    • 1
  • David Culla
    • 3
  • Damien Sallé
    • 3
  1. 1.Tecnalia France, MIBIMontpellierFrance
  2. 2.LIRMM - UMR 5506 - CC 477MontpellierFrance
  3. 3.Tecnalia, Mikeletegi Pasealekua, 7GipuzkoaSpain

Personalised recommendations