A Review on Cable-driven Parallel Robots

Qian, Shengsheng; Zi, Bin; Shang, Weiwei; Xu, Qingsong

doi:10.1186/s10033-018-0267-9

Cited by 129 publications

(54 citation statements)

References 75 publications

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“…Reconfigurability of the CDPRs is suitable for versatile applications especially in an industrial context [3,4,5]. CDPRs have drawn researchers' interests towards robotic applications such as pick-and-place operations, robotic machining, manipulation, intralogistics measurements and calibration systems [6].…”

Section: Introductionmentioning

confidence: 99%

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Métillon

Lessanibahri

Cardou

et al. 2020

Volume 10: 44th Mechanisms and Robotics Conference (MR)

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Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions. This paper deals with the designing, modelling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It should be noted that the six degrees of freedom (DOFs) motions of the moving platform of the CDPR, namely, the base of the PSW, and the three-DOFs motion of the PSW are actuated by means of eight actuators fixed to the base. As a consequence, the overall system is underactuated and its total mass and inertia in motion is reduced.

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Section: Introductionmentioning

confidence: 99%

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Métillon

Lessanibahri

Cardou

et al. 2020

Volume 10: 44th Mechanisms and Robotics Conference (MR)

View full text Add to dashboard Cite

show abstract

“…In addition, CDPRs have the characteristics of rapid reconfiguration, which is convenient for disassembly and handling. Various configurations can be obtained according to the specific requirements [17][18][19]. Modular design is a key to realize reconfiguration of CDPRs, especially the rapid reconfiguration.…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Yuan¹,

An²,

Zhang³

et al. 2020

Preprint

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Cable-driven parallel robots (CDPRs) have the characteristics of reconfigurability, which endows CDPRs with flexible workspace, freely configurable degrees of freedom and various configurations, greatly expanding their range of applications. Modular design provides great convenience and feasibility for the realization of reconfiguration, which is a key issue of reconfiguration research. However, most existing CDPRs have problems of low modularity and low system integration, which brings inconvenience to the realization of reconfiguration. In this paper, a highly integrated and high precision cable-driving module is designed, which can accurately control the length and tension of the cable. In addition, experimental verification is performed. The single-module experiment shows that the module has good ability for cable length and cable tension control. The cable length control error is less than 0.2mm, and the cable tension control error is less than 0.8N. Furthermore, based on the proposed module, a CDPR with 8 cables and 6 degrees of freedom is constructed rapidly. The open-loop tracking error of the robot is measured by laser tracker. Results show that the tracking error is less than 4.5mm and the Root-Mean-Square-Error (RMSE) is 2.1mm. Besides, the compliance control experiment of the robot shows that the tracking error in impedance control mode is less than 2mm, and the RMSE is 0.95mm, and the drag force in teaching mode is less than 2.5N, which demonstrates good follow-up performance. The proposed compact cable-driving module with high precision could be useful for the design and rapid construction of reconfigurable CDPRs.

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“…Assembly systems may consist of rigid components or compliant components, such as cables [1][2][3]. Soft cabledriven systems have been employed in many areas, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands [4][5][6][7][8]. The special characteristics of such systems are described as follows [4,[9][10][11]: a) Cables need to be subjected to a stretching force.…”

Section: Introductionmentioning

confidence: 99%

Modified Pre-stretching Assembly Method for Cable-Driven Systems

Zhang

Ren

et al. 2019

Chin. J. Mech. Eng.

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Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of cable-driven systems during the assembly process. However, the stress relaxation of cables becomes a critical concern during long-term operation. This study investigates the effects of non-uniform deformation and long-term stress relaxation of the driven cables owing to moving parts in the system. A simple closed-loop cable-driven system is built and an alternating load is applied to it to replicate the operation of transmission cables. Under different experimental conditions, the cable tension is recorded and the boundary data are selected to be curve-fitted. Based on the fitted results, a formula is presented to estimate the stress relaxation of cables to evaluate the assembly performance. Further experimental results show that the stress relaxation is mainly caused by cable creep and the assembly procedure. To remove the influence of the assembly procedure, a modified pre-stretching assembly method based on the stress relaxation theory is proposed and verification experiments are performed. Finally, the assembly performance is optimized using a cable-driven surgical robot as an example. This paper proposes a dual stretching method instead of the pre-stretching method to assemble the cable-driven system to improve its performance and prolong its service life. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. Authors' ContributionsJL and SW were in charge of the whole trial; GZ designed the experiments and wrote the manuscript; XR assisted with experimental setup; KK finished the comparison experiment with the needle holder; JS assisted with data analysis. All authors read and approved the final manuscript.

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A Review on Cable-driven Parallel Robots

Cited by 129 publications

References 75 publications

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Modified Pre-stretching Assembly Method for Cable-Driven Systems

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