LAR – UFSC
The Robotics Laboratory
The Professor Raul Guenther Robotics Laboratory integrate activities of the Mechanical Engineering Department, Control and Automation Engineering Department and Centre of Mobility Engineering. Established in 1990 by Professor Raul Guenther, the research team is now composed of more 
than twenty graduate students and research associates. The research team has produced numerous publications and technical achievements. The laboratory is involved in research contracts with organisations such as Petrobras, Eletrobras Furnas and ANEEL (National Agency of Electric Energy) and CEMAR (Energy Company of Maranhão).The research activities of the laboratory are mainly focused on the study of parallel mechanisms using methods based on screw theory such as:
* Kinematics and dynamics of parallel mechanisms;
* Trajectory planning of robotic manipulators;
* Force control of robotic manipulators;
* Modelling and control of complex robotic systems;
* Cooperative robotic systems – control and trajectory planning;
* Development of mathematical methods for synthesis and analysis of parallel mechanisms.
Main Industrial Projects
Several research projects have led to collaborations with industries and governmental organizations.
Roboturb (1998 – 2004): Roboturb is a robot designed for inspection and maintenance tasks of rotor blades of hydroelectric turbines damaged by cavitation. The main element of this system is a robotic device, with six rotative joints, designed to displace on a portable and flexible rail, configuring a redundant robot with seven degrees of freedom. The robot is supplemented with a set of developed acessories composed by a laser measuring head, to scan the eroded area, a plasma welding system, a teach-pendant for robot operation, an industrial computer, interfaces and power cards for motors and drive systems.
Partnership: COPEL (Energy Company of the State of Paraná) and Eletrobras Furnas.
Cemar (2008-2009): Design and construction of a robotic system for maintenance of insulators of transmission lines in power grids. In this project we developed a hydraulic robot with a maximum range of 16m (the largest in Brazil) was mounted on a truck. The maintenance operation consists of washing insulators insulators with a jet of high pressure water.
Partnership: ANEEL (National Agency of Electric Energy) and CEMAR (Energy Company of the State of Maranhão).
Deglox Petrosix (2010-2011): Conceptual design of a parallel mechanism for avoidance and elimination of agglomerated shale in the process of extracting oil shale. Petrosix is currently the world’s largest surface oil shale pyrolysis retort with an 11 metres (36ft) diameter vertical shaft kiln, operational since 1992.
Partnership: Petrobras.
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