Experimental Investigation of a Cable Robot Recovery Strategy

Boschetti, Giovanni; Minto, Riccardo; Trevisani, Alberto

doi:10.3390/robotics10010035

Cited by 7 publications

(3 citation statements)

References 35 publications

(33 reference statements)

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“…Its wrench-feasible translational workspace [50] is represented in Figure 13b with a regular discrete grid of 100 × 100 points, considering the platform mass equal to m = 2.5 kg, and τ min = 10 N and τ max = 80 N as cable tension limits. The CDPR is controlled by a Real-Time Linux PC, which runs its control algorithm at 1 kHz rate, and feeds motor commands through Ethercat protocol [51] to low-level servo drives. The low-level controller is also developed in-house and run on a ST Nucleo-H743ZI development board at 10 kHz: in addition to controlling motor angles, this allows to directly feed a cable-tension command to the drive.…”

Section: Experimental Demonstration: Laser Engravingmentioning

confidence: 99%

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

2021

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Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure and transmission system consist of light and extendable cables that can withstand high tensile loads. Cables are wound and unwound by a set of motorized winches, so that the robot workspace dimensions mainly depend on the amount of cable that each drum can store. For this reason, these manipulators are attractive for many industrial tasks to be performed on a large scale, such as handling, pick-and-place, and manufacturing, without a substantial increase in costs and mechanical complexity with respect to a small-scale application. This paper presents the design of a planar overconstrained cable-driven parallel robot for quasi-static non-contact operations on planar vertical surfaces, such as laser engraving, inspection and thermal treatment. The overall mechanical structure of the robot is shown, by focusing on the actuation and guidance systems. A novel concept of the cable guidance system is outlined, which allows for a simple kinematic model to control the manipulator. As an application example, a laser diode is mounted onto the end-effector of a prototype to perform laser engraving on a paper sheet. Observations on the experiments are reported and discussed.

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Section: Experimental Demonstration: Laser Engravingmentioning

confidence: 99%

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

2021

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“…Cable-driven parallel robots (also known as cable robots and CDPR) are commonly used in specific fields as industry applications [1], entertainment [2] and, especially, rehabilitation (e.g., Carex [3], CUBE [4], NereBot [5], CADEL [6,7]). Thanks to their unique properties, such as the possibility of operating in very large workspaces, the low cost, and the high speed [8], cable robots remain a research area of great interest. The principle of operation of cable robots is based on motors, one for each cable, which pull the cables that are attached to a mass, the end effector.…”

Section: Introductionmentioning

confidence: 99%

The Effect of Pulleys and Hooks on the Vibrations of Cable Rehabilitation Robots

Zuccon

Tang²,

Doria³

et al. 2022

Mechanisms and Machine Science

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Cable-driven rehabilitation devices (CDRDs) represent a widespread class of rehabilitation robots used to restore individual impaired movement capabilities by performing repetitive rehabilitation training of impaired extremities. CDRDs offer several merits, such as low inertia, high payload-to-weight ratio, modularity, simple architecture, and convenient for reconfiguration. In this paper, a model that takes into account the particular features (pulleys and magnetic hook) of the cables of a CDRD is presented. Experimental tests carried out with the modal analysis approach show that the model is able to reproduce most of the dynamic properties of the vibrated system equipped with cables.

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“…This work was extended in [14] by including drivetrain models. In [15], the approach was implemented on a prototype with three degrees-of-freedom (DOF) of the mobile end effector and four cables.…”

Section: Introductionmentioning

confidence: 99%

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Boumann

Brückmann

2022

Actuators

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Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long as there is a remaining set of cables, the dynamic behavior of the system can be influenced to prevent further damage, such as collisions with the ground. The paper presents a feasible algorithm, introduces the models for dynamical multi-body simulation and verifies the algorithm within control loop closure.

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Experimental Investigation of a Cable Robot Recovery Strategy

Cited by 7 publications

References 35 publications

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

The Effect of Pulleys and Hooks on the Vibrations of Cable Rehabilitation Robots

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

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