Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

Abstract

Abstract-KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible high speed and large workspace applications. This newly developed mechanisms have several advantages compared to the conventional parallel mechanisms. Its rotational motion range is relatively large, its redundancy improves safety for failure in cables, and its design is suitable for long-time high acceleration motions. In this paper, collision-free workspace of the manipulator is derived by applying fast geometrical intersection detection method, which can be used for any fully parallel manipulator. Implementation of the algorithm on the Neuron design of the KNTU CDRPM leads to significant results, which introduce a new style of design of a spatial cable-driven parallel manipulators. The results are elaborated in three presentations; constant-orientation workspace, total orientation workspace and orientation workspace.

A New Winch Construction for Smooth Cable Winding/Unwinding

“…Future research in this area would concern the inclusion of the proposed new construction of the winch in a complex cable suspended system, which may consist of n subsystems performing cable winding/unwinding process such in Aref et al [14].…”

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

“…The collision-free workspace (CFW) [41] is defined as the set of poses that can be reached without collision among the end effector to cables, the cable to cable, and the cable to work piece [52]. It is clear that the CFW is the subset of the DC or the subset of the WCW.…”

“…In most studies [48,[51][52][53][54], the numerical approach is used to find out the corresponding workspace for a specific system. It means the entire structure space is discretized and exhaustively searched to find the matching workspace which is defined previously.…”

Integrated controller for an over-constrained cable driven parallel manipulator: KNTU CDRPM

“…Hence, we conclude: x = x d as time t tends to infinity as long as the motion is within the wrench closure workspace [7] and without any collision [28] parallel or serial type singularity. An integrated control strategy is proposed to improve the overall tracking performance of a cable driven redundant parallel manipulator while system nonlinear behavior is remedied and sensitivity of the external loop to nonlinearity of the cables dynamics is decreased.…”