Explicit dynamics of redundant parallel cable robots

Mousavi, Mohammad Reza; Ghanbari, Masoud; Moosavian, S. Ali A.; Zarafshan, Payam

doi:10.1007/s11071-018-4476-7

Cited by 7 publications

(3 citation statements)

References 51 publications

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“…In this section, the modified redundancy resolution scheme is implemented on the 6-DoF redundant parallel cable robot, RoboCab [35]. This system possesses two degrees of redundancy in actuators.…”

Section: Resultsmentioning

confidence: 99%

“…The algorithm is applied to six DOF robotic manipulator, RoboCab, to validate the efficiency of the presented strategy. Figure 1 depicts the general structure of the robot which is investigated in our previous study [35]. An aluminum cubic end effector is implemented to track the desired trajectory in the cubic workspace.…”

Section: Introductionmentioning

confidence: 99%

“…Installed load cells report the real tensions during the operation to ensure cables Figure 1. RoboCab redundant parallel cable-driven robot [35].…”

Section: Introductionmentioning

confidence: 99%

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Rapid and safe wire tension distribution scheme for redundant cable-driven parallel manipulators

et al. 2021

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A non-iterative analytical approach is investigated to plan the safe wire tension distribution along with the cables in the redundant cable-driven parallel robots. The proposed algorithm considers not only tracking the desired trajectory but also protecting the system against possible failures. This method is used to optimize the non-negative wire tensions through the cables which are constrained based on the workspace conditions. It also maintains both actuators’ torque and cables’ tensile strength boundary limits. The pseudo-inverse problem solution leads to an n-dimensional convex problem, which is related to the robot degrees of redundancy. In this paper, a comprehensive solution is presented for a 1–3 degree(s) of redundancy in wire-actuated robots. To evaluate the effectiveness of this method, it is verified through an experimental study on the RoboCab cable robot in the infinity trajectory tracking task. As a matter of comparison, some standard methods like Active-set and sequential quadratic programming are also presented and the average elapsed time for each method is compared to the proposed algorithm.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%