Design of a large-scale cable-driven robot with translational motion

Alikhani, Alireza; Behzadipour, Saeed; Alasty, Aria; Vanini, S.A. Sadough

doi:10.1016/j.rcim.2010.07.019

Cited by 32 publications

(27 citation statements)

References 22 publications

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“…[2][3][4][5] Some practical application designs such as fabrication prototype 6 and cable system for improving mobility (CaSIMo) 7 were proposed and studied as spatial redundantly actuated cable-driven robot and cable-suspended robot. The difference between these two types of cable parallel robots is that the latter has to take advantage of gravity of the end-effector and the load applied on it while the former one does not.…”

Section: Introductionmentioning

confidence: 99%

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Tang

2016

Advances in Mechanical Engineering

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This article proposes a deduction method of algebraic expression of static wrench-closure workspace boundary for planar 3-degree-of-freedom cable-driven parallel robots based on the antipodal theorem. Different from interval method and discretization approach, a more precise algebraic expression of workspace boundary can be obtained without undetermined region or costly computation burden to make the design process and optimization easy and feasible. In order to illustrate and study the conic characteristics of workspace boundary, a case study is conducted on a four-cable-driven 3-degree-of-freedom parallel robot. Simulation results show that the type of conic of boundary depends on the determinant of the specific deduced matrix and corresponds to which cable is collinear with the intersection line. In addition, the results also demonstrate that the boundary of workspace consists of the same type of two conics (i.e. ellipse, parabola, and hyperbola), and the region surrounded by these two quadratic curves is the smallest when the type of the border equation is parabola.

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Section: Introductionmentioning

confidence: 99%

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Tang

2016

Advances in Mechanical Engineering

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“…Though the working principle is not mechanical, it heavily depends on the controller. Realizing this idea, the research introduced the design method of a cabledriven robot with translational motion focusing on the tension condition in the cables then showed a prototype of the system [7]. Using a similar approach, the designers of "Beta Bot" developed a mechanism with six cables and a spine in the middle of the end effector [8].…”

Section: Introductionmentioning

confidence: 99%

Configuration of redundant drive wire mechanism using double actuator modules

Dobashi

Nagai

2016

Robomech J

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A new wire mechanism called "redundant drive wire mechanism" (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler approach for judging RDWM candidates, which includes two procedures: conversion of the wire matrix to a new form, and judgment of candidates using the essential component of the new form of wire matrix related to the global motion. This paper shows a fast and convenient method for judging whether an RDWM candidate can produce the resultant forces needed to achieve required motions. The examples demonstrate the validity of the new method in dealing with RDWM candidates containing many wires.

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“…Cable parallel manipulators (CPMs) are parallel manipulators in which cables are used instead of rigid links, which are generally known for simple and light-weight structure, large reachable workspace, high acceleration capability, and easy reconfigurability [1][2][3][4][5]. Based on the preceding characteristics, the CPMs play an important role in many engineering fields, such as load lifting and positioning, coordinate measurement, aircraft testing, super antenna, and haptic devices [6,7].…”

Section: Introductionmentioning

confidence: 99%

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

Cao

Qian

2014

Advances in Mechanical Engineering

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The aim of this work was to present iterative learning tracking control of a hybrid-driven based three-cable parallel manipulator (HDCPM). The HDCPM has the advantages of both cable parallel manipulator and hybrid-driven planar five-bar mechanism. Design of the HDCPM is described and dynamic model is developed on the basis of Lagrange method. Consider the HDCPM system with nonlinear, time-varying characteristics and repetitive unknown disturbances; an adaptive iterative learning control strategy, which can control gains change with the iterations, is designed. By means of Lyapunov function, the stability of the controller is proved. Finally, simulation results indicate that a perfect trajectory tracking of the HDCPM is achieved by the adaptive iterative learning controller, which also illustrate the correctness of the dynamic modeling and effectiveness of the proposed control strategy.

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Design of a large-scale cable-driven robot with translational motion

Cited by 32 publications

References 22 publications

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Configuration of redundant drive wire mechanism using double actuator modules

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

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