Design and Precision-Control of a 5-DOF Robotic Arm for Teleoperated Installation of Protective Rebar Caps Using a Hexapod Robot

Chavez J.; Lara M.; Figueroa J.; Nieves A.; Becerra J.; Sulen C. · 2026 4th International Conference on Mechatronics, Control and Robotics, ICMCR 2026 (2026) · DOI: 10.1109/icmcr69541.2026.11533970

Resumen

This work presents the design, integration, and experimental validation of a teleoperated system for installing safety caps on exposed steel rebars in construction environments. The proposed platform combines a hexapod robot capable of maintaining body stability on uneven terrain with a 5-degree-of-freedom robotic manipulator optimized for axial insertion tasks. The methodology integrates kinematic modeling, required torque estimation, and motion planning to ensure precise alignment and safe interaction with the metal rebar under remote operation. Experimental tests, conducted under construction-like conditions, evaluated torque sufficiency, angular tracking performance, body stability, and insertion success rate. The results show that the available torque at the shoulder joint exceeds the required load with a safety factor greater than 1.9, the manipulator achieves stable tracking without overshoot, and the hexapod maintains pitch and roll angles within ± 1.5° during the maneuver. The system achieved a 100% success rate in ten consecutive trials, demonstrating its reliability and its potential to reduce worker exposure to hazardous manual tasks in construction.

Instituciones: Universidad Peruana de Ciencias Aplicadas