Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

Riehl, Nicolas; Gouttefarde, Marc; Krut, Sébastien; Baradat, Cédric; Pierrot-Deseilligny, Marc

doi:10.1109/robot.2009.5152576

Cited by 65 publications

(50 citation statements)

References 11 publications

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“…This assumption is usually valid for robots of reasonable size carrying light payloads, but for large-dimension cable-driven robots or for heavy payloads, such an assumption may be invalid [14]. In this latter reference, a well-known sagging cable modeling is used.…”

Section: Introductionmentioning

confidence: 99%

Simplified static analysis of large-dimension parallel cable-driven robots

Gouttefarde

Collard

Riehl³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Section: Introductionmentioning

confidence: 99%

Simplified static analysis of large-dimension parallel cable-driven robots

Gouttefarde

Collard

Riehl³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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“…The experimental data have been fitted to straight lines so that the mathematical expressions of each straight line can be acquired. Suppose G A 1 , G B 1 , G A 2 , and G B 2 represent the weights in the experiments and F SA 1 , F SB 1 , F SA 2 , and F SB 2 represent the wirerope tensions of tension sensors, the mathematical expressions of each straight line can be described as equation (15) …”

Section: Experiments and Analysis Ofmentioning

confidence: 99%

Research on micromanipulator’s clamping force sensing based on static wirerope tension of a surgical robot

Wang

et al. 2015

Advances in Mechanical Engineering

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The micromanipulator's force feedback is one of the key research contents of minimally invasive surgical robotic system. Because the micromanipulator is a kind of compact construction which is suitable for valve installation with small space in surgery, especially for the influence of disinfection method, there are major difficulties and limitations to integrate compact sensors in the end of micromanipulator. This article focuses on the 3-degree-of-freedom micromanipulator's clamping force sensing, and these three joints are actuated by wirerope driving. A clamping force sensing method is proposed based on static tension of wirerope driving, and a static model between the clamping force and wirerope's static tension is established considering the influence of real friction resistance in the mechanical system. Finally, an equivalent experimental test platform for 3-degree-of-freedom micromanipulator's clamping force sensing is set up, and then a series of experiments of the clamping force are studied. The frictional resistances of wirerope between the guide plate and guide pulley mechanism are tested, and a calibration and correction method of the experimental clamping force is proposed. The final experiment results show that the total average accuracy of experimental clamping force is about 78.3%, and it can be the basic measurement force to realize micromanipulator's clamping force feedback of a minimally invasive surgical robot.

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“…The sagging of cables may affect the robot performances [11]- [13]. Cable models with nonnegligible mass and elasticity must be taken into account.…”

Section: A Solving the Cable Tension Distribution Of A Cdprmentioning

confidence: 99%

On the analysis of large-dimension reconfigurable suspended cable-driven parallel robots

Nguyen¹,

Gouttefarde²,

Pierrot-Deseilligny³

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper, a new type of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) is introduced as a means to substitute for conventional methods of handing large and heavy parts across wide workspaces. The reconfigurability of the proposed CDPR offers better performances in term of workspace, flexibility and power consumption. A systematic procedure to solve a complex nonlinear optimization problem to find optimal reconfiguration for the robot is presented. Critical issues regarding various constraints and performance criteria are addressed. The robot can operate in offline reconfiguration or online reconfiguration modes which offer wide range of solutions to the end-users.

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Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

Cited by 65 publications

References 11 publications

Simplified static analysis of large-dimension parallel cable-driven robots

Simplified static analysis of large-dimension parallel cable-driven robots

Research on micromanipulator’s clamping force sensing based on static wirerope tension of a surgical robot

On the analysis of large-dimension reconfigurable suspended cable-driven parallel robots

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