Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis

Khalilpour, S. A.; Loloei, Azadeh Zarif; Taghirad, Hamid D.; Masouleh, Mehdi Tale

doi:10.1007/978-3-642-31988-4_15

Cited by 10 publications

(4 citation statements)

References 22 publications

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“…is method reduces the time to separate tension and external wrench. Khalilpour et al [39] developed a systematic interval method to determine the workspace of planar CDPRs. Based on [38,39], Loloei et al [40] studied an interval algorithm based on the fundamental wrench to specify the controllable workspace of both planar and spatial CDPRs.…”

Section: Workpace and Designmentioning

confidence: 99%

“…Khalilpour et al [39] developed a systematic interval method to determine the workspace of planar CDPRs. Based on [38,39], Loloei et al [40] studied an interval algorithm based on the fundamental wrench to specify the controllable workspace of both planar and spatial CDPRs. Lamine et al [41] also established the workspace for CDPRs during the design process based on equilibrium equation calculations with interval analysis, two Planar CDPR 3 DOFs-4 cables and spatial CDPR 6 DOFs-8 cables configurations were analyzed to calculate the minimum size of CDPRs with a given workspace.…”

Section: Workpace and Designmentioning

confidence: 99%

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An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging

Tho

Thinh

2022

Mathematical Problems in Engineering

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The researching, designing, calculating, and controlling cable-driven parallel robots (CDPRs) are being promoted in recent years. The researches focus on optimizing the design of CDPRs configuration, computing workspace, calculating cable tension distribution, designing the mechanical structure, and developing controller. However, due to the complexity of the structure and unidirectional characteristic of cable, many computational methods have been applied to solve the above problems. To facilitate the performance of theoretical studies on important issues in the design and control of the CDPRs, a summary of computational methods is needed for important issues related to the functionality and accuracy of CDPRs such as defining the workspace, distributing the cable tensions, and calculating the sagging of the cable. This paper summarizes published studies on CDPRs and focuses on classifying and analyzing methods used to calculate important issues in the process of calculating and designing CDPRs. The efficiency of these calculation methods is also analyzed and evaluated based on the mathematical theories of kinematics and dynamics of CDPRs. The content of this study is an effective reference for studies on important problems in the process of designing and implementing CDPRs, helping researchers shorten the time to review related topics.

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Section: Workpace and Designmentioning

confidence: 99%

Section: Workpace and Designmentioning

confidence: 99%

An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging

Tho

Thinh

2022

Mathematical Problems in Engineering

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“…A simple depiction of constraints was considered in [13] for a planar 3-RPR mechanism. The study of interval analysis as an effective tool for approximating the workspace is shown in [14][15][16]. Algorithms based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities can be effectively used to determine the workspace.…”

Section: Introductionmentioning

confidence: 99%

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

et al. 2021

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One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.

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“…Overall, Jacobian-based metrics are extensively used for both serial and parallel architectures in mechanism synthesis and design [69], workspace optimization [77,78], path planning [79], and control [80], as they capture robot performance both at a local and global level and can be easily adapted to evaluate a wide variety of situations. However, their limitations should not be overlooked.…”

mentioning

confidence: 99%

Measuring Performance: Metrics for Manipulator Design, Control, and Optimization

Russo

2022

Robotics

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How good is a robot? Three challenges arise from this question: first, defining performance from the robot’s observable behavior; second, quantifying performance with an index that is obtainable through direct measurement or computation, and representative of the measured quantity; third, ensuring that this procedure is repeatable and general, to enable performance comparison, benchmarking, and an increase of safety and efficiency standards. However, the landscape of performance metrics for industrial manipulators is fragmented, and limited effort is being made toward a unified framework. This survey aimed at collecting, classifying, and analyzing the key works on the topic, with a focus on mechanical performance metrics for industrial robots. Two diverging trends are outlined, with commercial standards adopting a limited set of metrics and academic research encouraging the development of new performance indices. The shortcomings of both approaches are highlighted, providing a perspective on how future research could proceed.

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Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis

Cited by 10 publications

References 22 publications

An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging

An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

Measuring Performance: Metrics for Manipulator Design, Control, and Optimization

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