A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing

Izard, Jean-Baptiste; Gouttefarde, Marc; Michelin, Micaël; Tempier, Olivier; Baradat, Cédric

doi:10.1007/978-3-642-31988-4_9

Cited by 42 publications

(23 citation statements)

References 7 publications

(7 reference statements)

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“…Dyneema R SK70 and SK95 were widely used [5], [2], and [6] due to their high tensile strength. However, the main problem with fiber cable systems is that they are prone to creep.…”

Section: A Cable Materials Selectionmentioning

confidence: 99%

Cable-Driven Actuation for Highly Dynamic Robotic Systems

Hwangbo

Tsounis

Kolvenbach

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents design and experimental evaluations of an articulated robotic limb called Capler-Leg.The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is designed to be as light-weight as possible and to additionally serve as the primary cooling element, thus significantly increasing the power density and efficiency of the overall system. The total weight of active elements on the leg, i.e. the stators and the rotors, contribute more than 60% of the total leg weight, which is an order of magnitude higher than most existing robots. The resulting robotic leg has low inertia, high torque transparency, low manufacturing cost, no backlash, and a low number of parts. Capler-Leg system itself, serves as an experimental setup for evaluating the proposed cablepulley design in terms of robustness and efficiency. A continuous jump experiment shows a remarkable 96.5 % recuperation rate, measured at the battery output. This means that almost all the mechanical energy output used during push-off returned back to the battery during touch-down.

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“…Dyneema R SK70 and SK95 were widely used [5], [2], and [6] due to their high tensile strength. However, the main problem with fiber cable systems is that they are prone to creep.…”

Section: A Cable Materials Selectionmentioning

confidence: 99%

Cable-Driven Actuation for Highly Dynamic Robotic Systems

Hwangbo

Tsounis

Kolvenbach

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…In more traditional applications, the CDPM cable lengths are measured by using sensors such as encoders similarly to the FALCON [13], the INCA6D [14], the ReelAx [15]. However, measuring the angle of departure of the cable in three-dimensional space is a more involved problem to which different solutions have been proposed in the literature.…”

Section: Angular Position Sensormentioning

confidence: 99%

Improving cable driven parallel robot accuracy through angular position sensors

Fortin-Côté

Cardou

Campeau-Lecours

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Conventionally, a cable driven parallel mechanism (CDPM) pose is obtained through the forward kinematics from measurements of the cable lengths. However, this estimation method can be limiting for some applications requiring more precision. This paper proposes to use cable angle position sensors in addition to cable length measurements in order to improve the accuracy of such mechanisms. The robot pose is first obtained individually by the cable length measurements and the cable angle position measurements. A data fusion scheme combining these two types of measurements is then proposed in order to improve the CPDM accuracy. Finally, simulations and experiments are presented in order to assess the benefits of using cable angle position sensors on the CDPM.

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“…Preliminary studies on reconfigurable CDPRs were performed in the context of the NIST RoboCrane project [9]. Izard et al [10] also studied a family of RCDPRs for industrial applications. Beside the mechanical modularity, a challenge is to develop a strategy that will allow one to determine the best CDPR geometry for a given task to be fulfilled.…”

Section: Introductionmentioning

confidence: 99%

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

Pedemonte

Rasheed

Marquez-Gamez

et al. 2019

Springer Tracts in Advanced Robotics

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The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension.

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A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing

Cited by 42 publications

References 7 publications

Cable-Driven Actuation for Highly Dynamic Robotic Systems

Cable-Driven Actuation for Highly Dynamic Robotic Systems

Improving cable driven parallel robot accuracy through angular position sensors

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

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