Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots

Miermeister, Philipp; Kraus, Werner; Pott, Andreas

doi:10.1007/978-3-642-31988-4_20

Cited by 14 publications

(10 citation statements)

References 4 publications

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“…The solution of the direct geometric-static problem of three cable-driven parallel robots by interval analysis is presented in Berti et al (2013 ), while the case of direct geometric-static analysis of an underconstrained 4-cables parallel robot is presented in Carricato and Abbasnejad (2013 ). In Miermeister et al (2013 ) the differential kinematics is studied for calibration, system investigation, and force-based forward kinematics. Moreover, the dynamic modeling of cable-driven parallel robots for a fully constrained planner case is investigated in Khosravi and Taghirad (2013 ) and for an underconstrained spatial case is presented in Yao et al (2013 ).…”

Section: Haptic Stimulus Of the Hand Palm: Design Principles And Modelingmentioning

confidence: 99%

Design of a Wearable Haptic Device for Hand Palm Cutaneous Feedback

et al. 2021

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This study describes the main design and prototyping steps of a novel haptic device for cutaneous stimulus of a hand palm. This part of the hand is fundamental in several grasping and manipulation tasks, but is still less exploited in haptics applications than other parts of the hand, as for instance the fingertips. The proposed device has a parallel tendon-based mechanical structure and is actuated by three motors positioned on the hand’s back. The device is able to apply both normal and tangential forces and to render the contact with surfaces with different slopes. The end-effector can be easily changed to simulate the contact with different surface curvatures. The design is inspired by a smaller device previously developed for the fingertips; however, in the device presented in this study, there are significant differences due to the wider size, the different form-factor, and the structure of hand palm. The hand palm represents the support for the fingers and is connected to the arm through the wrist. The device has to be developed taking into account fingers’ and wrist’s motions, and this requirement constrains the number of actuators and the features of the transmission system. The larger size of the palm and the higher forces challenge the device from a structural point of view. Since tendons can apply only tensile forces, a spring-based support has been developed to keep the end-effector separated from the palm when the device is not actuated or when the force to be rendered is null. The study presents the main design guidelines and the main features of the proposed device. A prototype has been realized for the preliminary tests, and an application scenario with a VR environment is introduced.

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Section: Haptic Stimulus Of the Hand Palm: Design Principles And Modelingmentioning

confidence: 99%

Design of a Wearable Haptic Device for Hand Palm Cutaneous Feedback

et al. 2021

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“…Even though this method is considered mathematically complex, real-time capability has been presented [9]. Iterative numerical schemes are another typical approach [3,11,14]. In general, the FK problem is formulated as a nonlinear optimization problem.…”

Section: Introductionmentioning

confidence: 99%

A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics

Santos

Gouttefarde

2020

Springer Proceedings in Advanced Robotics

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A real-time capable Forward Kinematics (FK) algorithm for Cable-Driven Parallel Robots (CDPRs) considering the pulley kinematics is proposed. The algorithm applies iteratively QR decomposition to solve a linearized version of the least squares problem representing the FK. Differential kinematics delivers an analytical expression for the Jacobian matrix of CDPRs considering the pulley kinematics. This Jacobian matrix is used to construct the linearization of the FK problem. Experimental and numerical results address the convergence capabilities of the proposed algorithm.

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“…Philipp Miermeister and Andreas Pott presented an auto-calibration method for overconstrained CDPRs using internal position and force sensors to achieve measurements [17]. A differential kinematic and force-based forward kinematics for CDPRs were introduced in [22]. Per Henrik Borgstrom et al presented two novel self-calibration methods, based on incremental displacement and cable tension, respectively [18].…”

Section: Introductionmentioning

confidence: 99%

A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

et al. 2019

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Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human–robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than 10 − 12 mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.

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Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots

Cited by 14 publications

References 4 publications

Design of a Wearable Haptic Device for Hand Palm Cutaneous Feedback

Design of a Wearable Haptic Device for Hand Palm Cutaneous Feedback

A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics

A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

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