A novel design for fully constrained planar Cable-Driven Parallel Robots to increase their wrench-feasible workspace

Martín-Parra, Andrea; Juárez-Pérez, Sergio; González-Rodríguez, Antonio; Gonzalez-Rodriguez, Angel G.; López-Diaz, Alfonso-Isidro; Rubio-Gómez, Guillermo

doi:10.1016/j.mechmachtheory.2022.105159

Cited by 11 publications

(21 citation statements)

References 15 publications

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“…This paper proposes a novel design for planar fully-constrained CDPRs of 3 DOFs. The novelty of the design is based on mechanically modifying the design presented in [18] by using a single cable loop, instead of four different cables.…”

Section: Discussionmentioning

confidence: 99%

“…Other authors propose modifying the attachment of the anchor points in the end-effector so collision with elements is avoided while reducing the end-effector manoeuvring [15,16]. All these solutions have the drawback of adding more actuators to the design, whereas previous works such as [17,18] proves that there is no need to add active elements to the design. Instead, it was shown that adding passive elements, such as moving carriages, to the design immensely increases the 3 of 17 WFW of the robot.…”

Section: Of 17mentioning

confidence: 99%

“…Instead, it was shown that adding passive elements, such as moving carriages, to the design immensely increases the 3 of 17 WFW of the robot. Taking into account the kinematic and static models analysis presented in [18], it is remarkable how the mechanical modification of adding passive carriages to the design increases the robot WFW. These carriages can move freely along linear guides in the robot frame.…”

Section: Of 17mentioning

confidence: 99%

“…In this way, the required cable tension is lower, achieving reasonable tension limits and a much larger WFW. Apart from comparing the WFW of the new design with a conventional CDPR, [18] also develops an analysis on the implications of the robot geometry in the achievable WFW, i.e., a parametric analysis. The main disadvantage of this new design is the end-effector loss of stiffness along the x-axis.…”

Section: Of 17mentioning

confidence: 99%

“…The main disadvantage of this new design is the end-effector loss of stiffness along the x-axis. In [18] a stiffness analysis was introduced to further propose a solution.…”

Section: Of 17mentioning

confidence: 99%

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Dynamic Model of a Novel Planar Cable Driven Parallel Robot with a Single Cable Loop

González-Rodríguez¹,

Martín-Parra²,

Juárez-Pérez³

et al. 2023

Preprint

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Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator which use cables to control the position and orientation of the mobile platform or end-effector. The usage of cables instead of rigid links offer some advantages over their conventional rigid counterparts. As cables can only pull, but not push, the number of cables (n) required to command the end-effector is always n+1. This configuration is known as fully-constrained and it is the most extended configuration for CDPRs. Although CDPRs have many advantages, such as their ability to cover large working areas, one of their main problems is that their working area (workspace) is limited in comparison to its frame area (planar case), or frame volume (spatial case), due to the minimum and maximum allowed tensions. Depending of these tensions values the workspace can be notoriously decreased. In order to tackle this problem, lots of works focus on solving kinematics or dynamics problems for cable sagging, i.e., they take into account sagging when modelling the robot kinematic and include these poses inside the usable robot workspace. Taking into account phenomenons like this increases the mathematical complexity of the problem, and much more complex techniques are required. On the other hand, the lack of workspace problem can be tackled by adding active or passive elements to the robot design. In this sense, this paper proposes two mechanical modifications: to add passive carriages to the robot frame and to use a single cable loop to command the end-effector position and orientation. This work presents the kinematic, static and dynamic models of the novel design and shows the gain of workspace for a planar case while taking into account different parameters of the robot.

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Section: Discussionmentioning

confidence: 99%

Section: Of 17mentioning

confidence: 99%

Section: Of 17mentioning

confidence: 99%

Section: Of 17mentioning

confidence: 99%

“…The main disadvantage of this new design is the end-effector loss of stiffness along the x-axis. In [18] a stiffness analysis was introduced to further propose a solution.…”

Section: Of 17mentioning

confidence: 99%

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