Influence of Pulley Kinematics on Cable-Driven Parallel Robots

Pott, Andreas

doi:10.1007/978-94-007-4620-6_25

Cited by 53 publications

(53 citation statements)

References 6 publications

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“…At this time it is assumed that such a constant transformation is available with some accuracy, obtained by means of a suited calibration procedure, where the subscript b refers to the robot base frame and f to the cable-driven reference system. Many works have been already proposed in the literature with relation to cable-driven systems and their physical realization [10][11][12][13]. According to them the kinematic model of a CDPM is analyzed in the following.…”

Section: Position Kinematics Of the Cdpm Devicementioning

confidence: 99%

Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Palpacelli

2016

Robotics and Computer-Integrated Manufacturing

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Section: Position Kinematics Of the Cdpm Devicementioning

confidence: 99%

Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Palpacelli

2016

Robotics and Computer-Integrated Manufacturing

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“…Static equilibrium of the cable robot can be achieved by balancing all 푚 cable forces 푓 푖 with the external wrench 풘 such that it reads 10], and at the core of determining the wrench-feasible workspace (WFW). Even though pulleys are used for guiding the cables, we neglect them in the analysis since their influence on the workspace space is negligibly small for the robot dimensions (see [13] for a discussion).…”

Section: Kinematics Modelmentioning

confidence: 99%

Design and Analysis of Cable-Driven Parallel Robot CaRISA: A Cable Robot for Inspecting and Scanning Artwork

Tempel

Alfeld

Wijk

2020

CISM International Centre for Mechanical Sciences

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Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70°each in total, making scanning of the spatial surface of art objects possible.

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“…Details about the calculations of the position of A i and angles θ i , α i , β i and γ i can be found in [11] and [12]. We now write:…”

Section: B Model Including Pulleysmentioning

confidence: 99%

“…However, in order to get a good estimation of the payload we had better use a detailed robot model of the robot and the most reliable measurements for cable tensions. Previous works such as [11] and [12] proposed rigid CDPR models including pulleys with two degrees of freedom (DoF) and analyzed the effect of the pulleys onto the workspace size.…”

Section: Introductionmentioning

confidence: 99%

Pulleys and Force Sensors Influence on Payload Estimation of Cable-Driven Parallel Robots

Picard

Caro

Claveau

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The subject of this paper is about the use of a suspended Cable-Driven Parallel Robot (CDPR) for pickand-place operations of heavy and heterogeneous objects. The knowledge of the payload mass and its center of mass in realtime is an asset for robust control of the device, which is required to ensure a good stability, especially when the objects have different shapes, sizes and masses. Accordingly, this paper aims at experimentally evaluating the effects of (i) the pulleys modeling and (ii) the use of force sensors for the payload estimation. It turns out that the consideration of the pulleys into the geometric model of the robot improves the mass and center of mass estimations of the payload. A comparison is made between the estimation of cable tensions from force sensors and from motor currents. Finally, a torque controller with a feedforward term for real-time mass compensation is proposed and implemented on a CDPR prototype.

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Influence of Pulley Kinematics on Cable-Driven Parallel Robots

Cited by 53 publications

References 6 publications

Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Design and Analysis of Cable-Driven Parallel Robot CaRISA: A Cable Robot for Inspecting and Scanning Artwork

Pulleys and Force Sensors Influence on Payload Estimation of Cable-Driven Parallel Robots

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