Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into a numerical and a physical substructure, coupled in real time via a measurement and control interface. The numerically computed load vector is applied to the physical substructure by means of multiple actuated winches so that the resulting experimental platform becomes a type of cable-driven parallel robot. In this context, the placement of the actuated winches is important to ensure that the loads can be accurately and robustly transferred to the physical substructure. This paper addresses this problem by proposing a performance measure and an associated actuator placement procedure that enables accurate force tracking and ensures that the numerically calculated loads can be actuated throughout the testing campaign. To clarify the application of the proposed procedure, it is applied to the design of a test setup for a moored barge. Overall, the paper represents a guideline for robust and beneficial actuator placement for real-time hybrid model testing using cable-driven parallel robots for load-actuation.

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“…The cabled actuators help ensure that the platform remains close to the desired pose in the presence of external excitations [33].…”

Section: ) External Forcesmentioning

confidence: 99%

Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

Ueland

Sauder

Skjetne

2021

JMSE

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“…Trajectory 3: The top plate performs a vertical translational motion while the sphere rotates. A video 1 illustrates the experiments carried out with the prototype. The experimental motions of the sphere along Trajectory 1 are shown in the video from 0min 5s to 1min 7s.…”

Section: Encoder Positionmentioning

confidence: 99%

“…CDPRs have several advantages compared to classical parallel robots. They are inexpensive and can cover large workspaces [1]. The lightweight cables contribute to the lower inertia of the moving platform and consequently to a better dynamic performance over classical parallel robots [2].…”

Section: Introductionmentioning

confidence: 99%

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Métillon

Cardou

Subrin

et al. 2021

Journal of Mechanisms and Robotics

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Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions. This paper deals with the design, modelling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It should be noted that the six degrees of freedom (DOF) motions of the moving platform of the CDPR, namely, the base of the PSW, and the three-DOF motion of the PSW are actuated by means of eight actuators fixed to the base. As a consequence, the overall system is underactuated and its total mass and inertia in motion is reduced.

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“…In addition, the constraints of the optimization problem include the positioning accuracy which should meet the precision necessary for the installation of the CWMs. Further details on the geometrical optimization of the Hephaestus CDPR prototype can be found in [24].…”

Section: Figure 1 Hephaestus Cdpr Prototypementioning

confidence: 99%

A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

Iturralde¹,

Feucht²,

Hu³

et al. 2020

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)

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The installation of curtain wall modules (CWMs) is a risky activity carried out in the heights and often under unfavorable weather conditions. CWMs are heavy prefabricated walls that are lifted normally with bindings and cranes. High stability is needed while positioning in order not to damage the fragile CWMs. Moreover, this activity requires high precision while positioning brackets, the modules, and for that reason, intensive survey and marking are necessary. In order to avoid such inconveniences, there were experiences to install façade modules in automatic mode using robotic devices. In the research project HEPHAESTUS, a novel system has been developed in order to install CWMs automatically. The system consists of two sub-systems: a cable driven parallel robot (CDPR) and a set of robotic tools named as Modular End Effector (MEE). The platform of the CDPR hosts the MEE. This MEE performs the necessary tasks of installing the curtain wall modules. There are two main tasks that the CDPR and MEE need to achieve: first is the fixation of the brackets onto the concrete slab, and second is the picking and placing of the CWMs onto the brackets. The first integration of the aforementioned system was carried out in a controlled environment that resembled a building structure. The results of this first test show that there are minor deviations when positioning the CDPR platform. In future steps, the deviations will be compensated by the tools of the MEE and the installation of the CWM will be carried out with the required accuracy automatically.

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Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

Cited by 25 publications

References 30 publications

Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

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