Cramped space inspection, Modeling and control of the deflection of a telescopic arm

This thesis reports a study conducted at the CIM4.0 Competence Center concerning the construction of a telescopic manipulator for the inspection of the BOEING 767 drifts in the industrial sector. In the thesis, after an introduction showing the project specifications and the minimum and necessary requirements to meet the needs of the project, the first phase of the study relating to the possible solutions investigated for the realization of the prototype is presented, focusing in particular on the type of mechanism adopted for the development of the telescopic. In a second moment, the study conducted concerning the realization of a numerical model validated on an existing telescopic handler, the PANORAMIC 35.11 produced by Merlo S.p.a., is reported. , to investigate the behavior of the telescopic handler during its extension, focusing on the evolution of the bending arrow and the displacement of loads. On the basis of the model created, an algorithm was then devised for the management and compensation of the bending to allow the telescopic to extend without interfering with the walls of the compartment being inspected. The thesis ends with some considerations on the prototype under development and a discussion on possible future works.