IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications

Pott, Andreas; Mütherich, Hendrick; Kraus, Werner; Schmidt, Valentine; Miermeister, Philipp; Verl, Alexander

doi:10.1007/978-3-642-31988-4_8

Cited by 132 publications

(91 citation statements)

References 17 publications

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“…The robot design and cable layout recall those of several prototypes developed worldwide [1,2]. The moving platform of the robot is a parallelepiped For this robot, the WEC can be computed by employing the formulations proposed in Equations (4) and (5), since the robot is redundant and the platform can be fully constrained.…”

Section: Analysis Of a 6-dof Overconstrained Spatial Cable Robotmentioning

confidence: 99%

“…Cable robots have several desirable advantages compared to conventional serial and parallel robots. For this reason they have been studied thoroughly since the early 90's [1] and promise to significantly increase performances of today's industrial robots in terms of payload, workspace and dynamic performances: they can be designed to have a very large workspace, a very high load capacity, or to generate very high speed motions [2], always with considerable energy efficiency. Their unique features, arising from parallel kinematics combined to minimal moving masses, make them amongst the most promising robotic devices in the industrial and service field, as it is proved by the ever-growing number of cable robot families that has been developed by research institutions and private companies [3,4].…”

Section: Introductionmentioning

confidence: 99%

“…Very often, cable robots are designed to be redundant (i.e., with more active cables and hence motors, than degrees of freedom (dofs) of the moving platform, see for example, Reference [2]), however, fully actuated (i.e., with a number of active cables equal to the dofs, see for example, Reference [5]) and underactuated (i.e., with less active cables than dofs, see for example, Reference [6]) topologies have been studied too. Moreover, cable robots can exhibit a hybrid design (i.e., with both cables and rigid link mechanisms [3,7]).…”

Section: Introductionmentioning

confidence: 99%

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Cable Robot Performance Evaluation by Wrench Exertion Capability

Boschetti

Trevisani

2018

Robotics

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Although cable driven robots are a type of parallel manipulators, the evaluation of their performances cannot be carried out using the performance indices already developed for parallel robots with rigid links. This is an obvious consequence of the peculiar features of flexible cables-a cable can only exert a tensile and limited force in the direction of the cable itself. A comprehensive performance evaluation can certainly be attained by computing the maximum force (or torque) that can be exerted by the cables on the moving platform along a specific (or any) direction within the whole workspace. This is the idea behind the index-called the Wrench Exertion Capability (WEC)-which can be employed to evaluate the performance of any cable robot topology and is characterized by an efficient and simple formulation based on linear programming. By significantly improving a preliminary computation method for the WEC, this paper proposes an ultimate formulation suitable for any cable robot topology. Several numerical investigations on planar and spatial cable robots are presented to give evidence of the WEC usefulness, comparisons with popular performance indices are also provided.

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Section: Analysis Of a 6-dof Overconstrained Spatial Cable Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Cable Robot Performance Evaluation by Wrench Exertion Capability

Boschetti

Trevisani

2018

Robotics

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“…The well known Skycam by Cone (1985), providing a bird's-eye view of football or soccer Pott et al (2013) matches, is a good example for cable robot technology in use. For use in logistics, Bruckmann et al (2013) have developed a high rack storage and retrieval unit of large dimensions based on cable robot technology.…”

Section: Introductionmentioning

confidence: 99%

On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots

Tempel

Verl

Pott

2016

ROMANSY 21 - Robot Design, Dynamics and Control

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High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme maneuvers is yet to be investigated. In this paper, a simulation model is presented and validated in order to assess the emergency stop behavior of cable robots by simulation. Simulation results are evaluated using spectral analysis and validated against experimental data of a medium-sized redundantly restrained cable robot. The correctness and limitations of the model's accuracy in a range of the actual system's dynamics are furthermore shown.

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“…A rescue mobile cable robot system used after earthquakes [8] was developed. The IPAnema family of cable robots for medium-to largescale inspection, handling, and assembly operations [9][10][11][12] is developed in Germany. Otis developed a locomotion system [13,14] in Canada.…”

Section: Introductionmentioning

confidence: 99%

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Duan

2014

Advances in Mechanical Engineering

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Large workspace is one of the promising advantages possessed by the cable-driven parallel robots (CDPR) over the conventional rigid-link robots. This paper focuses on the dynamic analysis and workspace classification based on the general motion equation of cable robot and the unilateral property of cables. The combinations of different types of two conditions lead to several different types of workspace, including static equilibrium workspace, wrench closure workspace, wrench feasible workspace, dynamic workspace, and collision-free workspace. A qualitative comparison of different types of workspaces is performed. The simulation results verify the relationship between the several types of workspaces.

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IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications

Cited by 132 publications

References 17 publications

Cable Robot Performance Evaluation by Wrench Exertion Capability

Cable Robot Performance Evaluation by Wrench Exertion Capability

On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

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