Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane

Abstract

This paper introduces the concept of a new planar Cable-Driven Parallel Crane (CDPC) for lifting and carrying payloads with a moving hoist mechanism connected in parallel to the ceiling. In contrast to bridge-crane, CDPC is inexpensive and practicable for diverse tasks with simple assembly setup. The hoist mechanism is an under-constrained moving-platform articulated through a bi-actuated cable circuit, namely, a cable loop. The hoist is connected to a suspended moving-platform with four degrees of freedom. The power is transmitted directly from the motors fixed on frames to the hoist through the cable loop. Therefore, the dynamic performance of the robot is increased due to lower inertia of the moving-platform. However, the moving-platform undergoes some parasitic inclinations because of the cable loop. This paper investigates the parasitic inclination and its effect on the positioning of the payload. The workspace of the CDPC is studied in terms of static equilibrium. Moreover, the geometrico-static and elasto-static models of the CDPC are presented.

Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

“…Here, we consider CREATOR prototype introduced in [10] in order to trace S 1 and S 2 for different orientations of the moving-platform. The main dimensions of the prototype are given in Table 1.…”

“…Cable loops have been addressed in several papers [7], [13] and it was employed in [10] for actuation of a hoist mechanism embedded in a MP. In the latter the large rotational amplitudes provided by a cable loop was used to actuate a one Degree of Freedom (DoF) mechanism, while here we employ two cable loops to actuate a tilt-roll wrist having a large rotational workspace.…”

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

“…In [10] a hybrid CDPR uses a cable-loop for remote actuation of an embedded hoist mechanism on the moving platform. In [11] a moving platform embedding a two-DOFs differential gear set mechanism is presented allowing the two-DOFs unlimited rotational motions of the end-effector.…”

A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

“…The other application of cable-loops is the actuation of embedded end-effectors on the moving-platforms (hybrid mechanisms) through cableloops and drums, so that no motor is required to be mounted on the moving-platform. In [10,11], two concepts of hybrid CD-PRs were detailed. In [10], a hoist was combined with a CDPR, with granted large rotation amplitudes of the hoist for adjusting height of a payload.…”

“…In [10,11], two concepts of hybrid CD-PRs were detailed. In [10], a hoist was combined with a CDPR, with granted large rotation amplitudes of the hoist for adjusting height of a payload. In the latter paper, the concept of a CDPR, with large translational workspace and large tilt and roll rotations of its end-effector was introduced.…”