Development of Modular Cable-Driven Parallel Robotic Systems

Qian, Shengsheng; Zi, Bin; Wang, Daoming; Li, Yuan

doi:10.1109/access.2018.2889245

Cited by 13 publications

(24 citation statements)

References 34 publications

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“…However, most of such stiffness models are studied in Euclidean space. Remarkably, the trajectory of the CSJM is a curve on SO (3), which is a differential manifold [27]. The neighborhood of a point on a differential manifold can be approximated by its tangent space at this point, which is Euclidean [28].…”

Section: Introductionmentioning

confidence: 99%

“…However, for a low stiffness system such as the CSJM, the displacement will be large under the load, which makes the former approach inaccurate. In [29], a stiffness formulation for the conservative mechanical system is derived on SE (3) from geometric perspective. It shows that the stiffness matrix is dependent on the affine connection defined on SE (3).…”

Section: Introductionmentioning

confidence: 99%

“…In [29], a stiffness formulation for the conservative mechanical system is derived on SE (3) from geometric perspective. It shows that the stiffness matrix is dependent on the affine connection defined on SE (3). In [30], a stiffness model for a wrist joint is derived on SO(3) with a symmetric connection, as it yields a symmetric stiffness matrix for a conservative mechanical system.…”

Section: Introductionmentioning

confidence: 99%

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Enhanced Stiffness Modeling and Identification Method for a Cable-Driven Spherical Joint Module

Yang

Chen

et al. 2019

IEEE Access

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A cable-driven manipulator (CDM) has low stiffness and its stiffness identification is a critical issue. This paper focuses on stiffness modeling and identification for a cable-driven spherical joint module (CSJM), whose trajectory is a curve on SO(3). In order to obtain the stiffness of the CSJM, it requires to evaluate the variation of the load against the displacement. However, since the vectors of displacement and load at different poses of the CSJM belong to different vector spaces of SO(3), the algebraic operations between them can not be performed directly. Hence, a Riemannian metric and the Levi-Civita connection are defined on SO(3), so that vectors can be parallel transported from one vector space to another along the trajectory curve. Consequently, the covariant derivative of the load with respect to the displacement is defined on SO(3) to establish the stiffness model. The resultant stiffness matrix is proved to be symmetric for a conservative system. In this way, the stiffness model with the system parameters of the CSJM is derived based on the kinetostatic analysis. Due to a part of the system parameters can not be accurately known, a feasible stiffness identification method is proposed based on the approximation of the covariant derivative, which merely require to measure the poses and loads of the CSJM. The experiment on the actual testbed validates the practical appeals of the proposed stiffness model and associate identification method. INDEX TERMS Cable-driven spherical joint module, stiffness modeling, stiffness identification, force/torque sensor, Riemannian manifold.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Enhanced Stiffness Modeling and Identification Method for a Cable-Driven Spherical Joint Module

Yang

Chen

et al. 2019

IEEE Access

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“…Other motivation with respect to the MRCPR including the trajectory tracking, safety monitoring, and obstacle avoidance have been investigated in author's former works. 31 The contributions of this article are as follows:…”

Section: Introductionmentioning

confidence: 99%

Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Zhao

Qian

et al. 2019

International Journal of Advanced Robotic Systems

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To obtain better flexibility and multifunction in varying practical applications, several typical configurations of a modular reconfigurable cable-driven parallel robot are analyzed in this article. The spatial topology of the modular reconfigurable cable-driven parallel robot can be reconfigured by manually detaching or attaching the different number of modular branches as well as changing the connection points on the end-effector to satisfy diverse task requirements. The structure design of the modular reconfigurable cable-driven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. The inverse kinematics and dynamics of the modular reconfigurable cable-driven parallel robot considering diverse configurations are derived according to the vector closed rule and Lagrange method, respectively. The numerical simulation and related experiments of a typical configuration are achieved and analyzed. The results verify the effectiveness and feasibility of the inverse kinematics and dynamics models for the modular reconfigurable cable-driven parallel robot.

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“…Pott et al [23] suggested a method to determine the space taken by the cables when the robot is moving, considering that the cable trajectory takes the form of a cone. In References [24,25] the authors analyzed several typical configurations of a modular reconfigurable cable-driven parallel robot. Finally, in Reference [26] the author presented a study of the advantages of reconfigurable platforms in parallel robots and suggested a new method for dealing with the constrains in the kinematic coupling of limbs.…”

Section: Introductionmentioning

confidence: 99%

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

et al. 2019

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Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.

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Development of Modular Cable-Driven Parallel Robotic Systems

Cited by 13 publications

References 34 publications

Enhanced Stiffness Modeling and Identification Method for a Cable-Driven Spherical Joint Module

Enhanced Stiffness Modeling and Identification Method for a Cable-Driven Spherical Joint Module

Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

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