An energy-efficient wire-based storage and retrieval system

Brückmann, Tobias; Sturm, Christian; Fehlberg, Lisa; Reichert, Christopher

doi:10.1109/aim.2013.6584163

Cited by 14 publications

(9 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…It was pointed out that the introduction of springs can increase the workspace of single or multi-body cable-driven robots [29,30]. The use of passively guided compliant subunits and energy-storing elements can increase the application range of wire-driven robots [31][32][33]. von Zitzewitz et al described that the eigenmotion of the oscillator consisting of an end effector and the attached springs was capable of reducing wire forces generated by the active components for a given task.…”

Section: Contents Lists Available At Sciencedirectmentioning

confidence: 98%

“…WFW consists of the set of poses where the cable robot exerts a desired force/moment on the environment while maintaining static equilibrium [34]. The WFW depends not only on the geometry, i.e., J of the robot but also on the constraints of cable forces f and the external wrench W [26,32]. The following section will analyze the effect on W when springs are added to the CDPRs.…”

Section: Kinematic and Dynamic Model Of Cdprs With Springsmentioning

confidence: 99%

See 1 more Smart Citation

Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs

Duan

Vashista

Agrawal

2015

Mechanism and Machine Theory

View full text Add to dashboard Cite

Section: Contents Lists Available At Sciencedirectmentioning

confidence: 98%

Section: Kinematic and Dynamic Model Of Cdprs With Springsmentioning

confidence: 99%

Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs

Duan

Vashista

Agrawal

2015

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…Ramadan et al [11] studied the operating cycle of the storage turnover for a CDPR stacker and decreased the runtime by 60%. Bruckmann et al [12] analysed the performance of a CDPR in an AWS by means of a simulation experiment, and the results validated that the energy consumption was reduced by 37% compared with the conventional AS/RS. Thereafter, the energy consumption was reduced by optimizing the electrical hardware [13].…”

Section: Introductionmentioning

confidence: 98%

Design Optimization of Redundantly Actuated Cable-Driven Parallel Robots for Automated Warehouse System

et al. 2020

View full text Add to dashboard Cite

This study focuses on the optimization of the geometry configurations and mobile platform parameters of redundantly actuated cable-driven parallel robots (RA-CDPRs) for automated warehouse system (AWS). Owing to their potential structural advantages, RA-CDPRs are proposed to replace conventional stackers in AWS, to achieve a high payload mass and low cable tension in frequent automated retrieval/storage operations. To meet these operational requirements, the maximal payload criterion satisfying the wrench-feasible condition is used to determine the optimal geometry configuration. Based on the optimal geometry configuration, the minimal cable tension is designed as the other criterion for optimizing the mobile platform parameters of RA-CDPRs. The optimization method is validated on a 6-DOF RA-CDPR, and the optimal results are simulated and implemented under static equilibrium conditions. Both the simulation and experimental results verify the optimal results can significantly enhance the payload mass and decrease the cable tension of AWS. INDEX TERMS Cable-driven parallel robots, geometry configuration selection, optimization design, automated warehouse system.

show abstract

“…The Hephaestus project (Fig. 3(c)) is a good example [26,27]. Large space CDPRs are also used in the field of logistics and warehousing [28].…”

Section: Introductionmentioning

confidence: 99%

State-of-the-art on theories and applications of cable-driven parallel robots

et al. 2022

View full text Add to dashboard Cite

Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid-flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid-flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

show abstract

An energy-efficient wire-based storage and retrieval system

Cited by 14 publications

References 8 publications

Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs

Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs

Design Optimization of Redundantly Actuated Cable-Driven Parallel Robots for Automated Warehouse System

State-of-the-art on theories and applications of cable-driven parallel robots

Contact Info

Product

Resources

About