Force-distribution sensitivity to cable-tension errors in overconstrained cable-driven parallel robots

Mattioni, Valentina; Idá, Edoardo; Carricato, Marco

doi:10.1016/j.mechmachtheory.2022.104940

Cited by 18 publications

(20 citation statements)

References 41 publications

(67 reference statements)

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“…Te instantaneous length l n can be substituted in equation (3) to make the equation a function of the variable to be measured and a known constant. Tis is shown in the following equation:…”

Section: Geometrically Nonlinear Vibrationsmentioning

confidence: 99%

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Impact of Tuned Mass Dampers and Electromagnetic Tuned Mass Dampers on Geometrically Nonlinear Vibrations Reduction of Planar Cable Robots

Zamora-Garcia

Ramírez-Reivich

Corona-Lira

2023

Shock and Vibration

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Vibration is one of the problems that limits the applications of cable driven parallel robots (CDPR). The problem is bigger in CDPR with planar configuration due to the presence of out-of-plane vibrations, which have a larger amplitude and settling time. Some authors have proposed solutions such as the increase in tension of the wires, increase in the end effector mass, or the use of active dampers. In this research, we investigated the performance of tuned mass dampers (TMD) and electromagnetic tuned mass dampers (ETMD) which are integrated in the end effector of a CDPR in a planar configuration with eight wires. The essential idea is to reduce the settling time of the end effector through free vibrations without the use of external energy. This research followed an analytical and experimental methodology with the following steps. Three mathematical models were formulated and analysed using numerical simulations. Then, a test bench to validate the analytical results was designed and built. The effectiveness of the dampers was evaluated by comparing the settling times of the following three cases: without damper, with TMD, and with ETMD. During the investigation, it was observed that the use of AMS can reduce the settling time using the appropriate parameters. The effectiveness of AEMS is highly dependent on frictions and can be effective in some scenarios. Reductions in settling time from marginal values to 95% can be obtained. This research implies a viable solution for the out-of-plane vibrations of planar CDPR.

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“…Te instantaneous length l n can be substituted in equation (3) to make the equation a function of the variable to be measured and a known constant. Tis is shown in the following equation:…”

Section: Geometrically Nonlinear Vibrationsmentioning

confidence: 99%

“…As a new technology, there are some issues that should be resolved before applying it in a broader way. Tere are problems in the formulation of workspaces, force distribution [3], inverse kinematics, and inverse dynamics.…”

Section: Introductionmentioning

confidence: 99%

Impact of Tuned Mass Dampers and Electromagnetic Tuned Mass Dampers on Geometrically Nonlinear Vibrations Reduction of Planar Cable Robots

Zamora-Garcia

Ramírez-Reivich

Corona-Lira

2023

Shock and Vibration

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“…A different strategy was proposed as a simple feed-forward alternative to more complex closed-loop controllers [1,2], and it was later called hybrid force-position control in joint space (hybrid joint-space control, in short) [10]. According to this strategy, the robot inputs, namely the joint-space controlled variables, are divided into position-and force-controlled ones, similar to hybrid control techniques in the Cartesian space, where EE controlled variables are similarly divided [7].…”

Section: Introductionmentioning

confidence: 99%

“…A selection criterion for force-controlled cables in hybrid joint-space control was initially proposed in [8] and later extended in [10]. This criterion is based on evaluating a performance index, called force-distribution sensitivity to cable tension error (FD sensitivity, in short), which allows quantifying how the FD is influenced by the tension error in a chosen force-controlled cable set.…”

Section: Introductionmentioning

confidence: 99%

A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

Mattioni

Idá

Gouttefarde

et al. 2023

Mechanisms and Machine Science

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Hybrid joint-space control of overconstrained cable-driven parallel robots requires regulating the length of as many cables as the degrees of freedom of the end-effector, and controlling the tension of the remaining ones. Previous studies showed how to choose which cables to length control, and which ones to tension control, according to minimum tension error propagation techniques. The sets of tension-controlled and length-controlled cables achieving minimum tension error propagation typically vary throughout the workspace, which is an undesirable outcome. This paper aims to achieve practicality in hybrid joint-space control, by investigating which cables to be tension-and length-controlled in the whole workspace, without needing to change such sets. The HRPCable robot at LIRMM is analyzed for this application, and experiments are carried out on it.

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“…In addition, if properly designed, actuation units and guidance systems can be rearranged discretely [2] and continuously [3], allowing for rapid changes in workspace size and shape. However, since multiple cables act in parallel on the same load, part of the work they exert is spent keeping each other in tension [4]. Nevertheless, they may be more efficient than industrial robots, as the latter have to carry their weight around [5].…”

Section: Introductionmentioning

confidence: 99%

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

Idá

Mattioni

2022

Actuators

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Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload. Thus, CDPRs share several types of equipment with cranes, such as winches, hoists, and pulleys. On the other hand, since CDPRs rely on model-based automatic controllers for their operations, standard crane equipment may severely limit their performance. In particular, to achieve reasonably accurate feedback control of the EE pose during the process, the length of the cable inside the workspace of the robot should be known. Cable length is usually inferred by measuring winch angular displacement, but this operation is simple and accurate only if the winch transmission ratio is constant. This problem called for the design of novel actuation schemes for CDPRs; in this paper, we analyze the existing architectures of so-called servo-winches (i.e., servo-actuators which employ a rotational motor and have a constant transmission ratio), and we propose a novel servo-winch concept and compare the state-of-the-art architectures with our design in terms of pros and cons, design requirements, and applications.

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Force-distribution sensitivity to cable-tension errors in overconstrained cable-driven parallel robots

Cited by 18 publications

References 41 publications

Impact of Tuned Mass Dampers and Electromagnetic Tuned Mass Dampers on Geometrically Nonlinear Vibrations Reduction of Planar Cable Robots

Impact of Tuned Mass Dampers and Electromagnetic Tuned Mass Dampers on Geometrically Nonlinear Vibrations Reduction of Planar Cable Robots

A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

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