Cable-driven parallel robots for industrial applications: The IPAnema system family

Abstract

Nowadays there are very little robot systems in operation in the field of medium to large-scale handling and assembly mostly due to lack of repetitive processes or shortcomings in programming and configuring such robots. In this paper we introduce a family of cable-driven parallel robots called IPAnema that are designed for industrial processes. We address the system architecture, key components such as winches and controller, as well as design tools. Furthermore, some experimental data from the evaluation are presented to illustrate the performance of cable robots

A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators

“…Although cable suspended systems already exist in literature, they are usually employed in tasks where only a rigid body is considered (see e.g. [22], [23], [20]). Usually, the tasks of these systems is to position the rigid-body in the workspace and/or to sustain its weight for free-floating dynamics emulation.…”

Prototipo de robot paralelo accionado por cuatro cables: resultados experimentales

“…En las últimas décadas, los robots accionados por cables han logrado enormes avances en diversos sectores de la industria debido a las ventajas que otorgan respecto de los robots convencionales (manipuladores seriales y paralelos) (Khakpour, Birglen, y Tahan, 2014). Estos robots son utilizados principalmente en aplicaciones de manipulación, soldadura y montaje por ser estructuras simples con un mayor espacio de trabajo y una velocidad de movimiento del efector final más rápida (Pott et al, 2013). Sin embargo, al ser robots accionados por cables presentan nuevos desafíos en el diseño de controladores porque los cables solo pueden ejercer tensión, por esta razón varios investigadores han propuesto adecuar los esquemas de control convencionales utilizados en estructuras seriales y paralelas (Khosravi, Taghirad y Toosi, 2012).…”

On the real-time calculation of the forward kinematics of a suspended cable–driven parallel mechanism with 6-degree-of-freedom wave compensation

“…1,2 After years of research, the cable-driven parallel mechanism has made some progress in the research of kinematics, 3,4 dynamics, 5,6 tension distribution, 7,8 workspace, 9,10 and control. 11,12 In practice, it is mainly used in the fields of cargo handling, [9][10][11] rehabilitation robot, 12 large spherical radio telescopes, 13,14 wave compensation, 15,16 and wind tunnel. 17,18 In the aspect of cargo handling, more and more scholars pay more attention to the attitude control of multiple DOFs.…”

“…In the 80s of last century, the NIST developed the world's first cable-driven parallel mechanism RoboCrane. 1,2 After years of research, the cable-driven parallel mechanism has made some progress in the research of kinematics, 3,4 dynamics, 5,6 tension distribution, 7,8 workspace, 9,10 and control. 11,12 In practice, it is mainly used in the fields of cargo handling, [9][10][11] rehabilitation robot, 12 large spherical radio telescopes, 13,14 wave compensation, 15,16 and wind tunnel.…”