Large-scale 3D printing with cable-driven parallel robots

Izard, Jean-Baptiste; Dubor, Alexandre; Hervé, Pierre-Elie; Cabay, Edouard; Culla, David; Rodríguez, Mariola; Barrado, Mikel

doi:10.1007/s41693-017-0008-0

Cited by 104 publications

(40 citation statements)

References 15 publications

(16 reference statements)

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“…One intrinsic disadvantage of CSPRs is that cables can only drag the end-effector but cannot push it [1][2][3]. In the last few decades, CSPRs have been widely applied in various fields due to their attractive merits, such as hoisting heavy loads [4,5], large radio telescope [6,7], high-speed manipulation [8], wind tunnel test [9], camera robot [10], 3D printer [11][12][13], rehabilitation robot [14,15], building construction [16,17], and haptic devices [18].…”

Section: Introductionmentioning

confidence: 99%

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Zhao

Qian

et al. 2020

Chin. J. Mech. Eng.

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To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots (CSPRs), point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot (UCPR) with variable angle and height cable mast as described in this paper. The end-effector of the UCPR with three cables can achieve three translational degrees of freedom (DOFs). The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed. The motion trajectory of the end-effector comprising six segments is given. The connection points of the trajectory segments (except for point P3 in the X direction) are devised to have zero instantaneous velocities, which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition. The trajectory is respectively planned using three algebraic methods, including fifth degree polynomial, cycloid trajectory, and doubleS velocity curve. The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector. Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning. At the points where the velocity suddenly changes, the length and tension variation curves of the planned and unplanned three cables are compared and analyzed. The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment. The effectiveness and feasibility of fifth degree polynomial planning are validated.

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Section: Introductionmentioning

confidence: 99%

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Zhao

Qian

et al. 2020

Chin. J. Mech. Eng.

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“…A CDPR covers a large area because the robot provides a scalable workspace by changing the locations of its guide pulleys. There have been several studies on the use of CDPRs for large 3D construction printing [6][7][8]. However, developing a CDPR for 3D construction printing requires a careful design process because its design parameters can significantly affect workspace volume, cable interference with a printed structure, structure, and robot stiffness.…”

Section: Introductionmentioning

confidence: 99%

“…For most of the previously developed 3D-printing CDPRs for construction, suspended cable connection has been typically selected for securing the workspace under the end-effector since there can be no cables passing under the end-effector. A large suspended CDPR for construction, called Control of Giant Robots (CoGiRo), was developed and tested for the printing accuracy of a large wall [6]. A 3D printing CDPR was developed and the feasibility of its mechanism was investigated using simulation and experiments [7].…”

Section: Introductionmentioning

confidence: 99%

Workspace and Stiffness Analysis of 3D Printing Cable-Driven Parallel Robot with a Retractable Beam-Type End-Effector

Jung

2020

Robotics

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3D printing is a widely used technology that has been recently applied in construction to reduce construction time significantly. A large 3D printer often uses a traditional Cartesian robot with inherent problems, such as position errors and printing nozzle vibrations, due to the long, heavy horizontal beam carrying it and a large amount of power required to actuate the heavy beam. A cable-driven parallel robot (CDPR) can be a good alternative system to reduce the vibrations and necessary power because the robot’s lightweight cables can manipulate the printing nozzle. However, a large 3D printing CDPR should be carefully designed to maximize the workspace and avoid cable interference. It also needs to be stiff enough to reject disturbances from the environment properly. A CDPR with a retractable beam-type end-effector with cables through the guide pulleys in a single plane is suggested for avoiding cable interference while maximizing the workspace. The effects of using the retractable end-effector on the workspace were analyzed relative to the cable connection points’ location changes. Static stiffness analysis was conducted to examine the natural frequencies, and the geometric parameters of the end-effector were adjusted to improve the lowest natural frequencies. Simulation results show that a retractable beam-type end-effector can effectively expand the wrench-feasible workspace.

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“…In recent years, cable-driven parallel robots (CDPRs) have attracted lots of attentions. They have been widely used in huge telescope [1], rehabilitation [2], live sporting broadcasting [3], disaster rescue [4], virtual reality [5], automatic handling [6], pick-and-place [7][8] large 3D printing [9] and etc. Compared with traditional parallel robots, CDPRs use flexible cables to drive platforms, which makes them have the characteristics of small inertia, large workspace, fast speed and acceleration, strong load capacity, good flexibility and low cost [10][11][12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Yuan¹,

An²,

Zhang³

et al. 2020

Preprint

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Cable-driven parallel robots (CDPRs) have the characteristics of reconfigurability, which endows CDPRs with flexible workspace, freely configurable degrees of freedom and various configurations, greatly expanding their range of applications. Modular design provides great convenience and feasibility for the realization of reconfiguration, which is a key issue of reconfiguration research. However, most existing CDPRs have problems of low modularity and low system integration, which brings inconvenience to the realization of reconfiguration. In this paper, a highly integrated and high precision cable-driving module is designed, which can accurately control the length and tension of the cable. In addition, experimental verification is performed. The single-module experiment shows that the module has good ability for cable length and cable tension control. The cable length control error is less than 0.2mm, and the cable tension control error is less than 0.8N. Furthermore, based on the proposed module, a CDPR with 8 cables and 6 degrees of freedom is constructed rapidly. The open-loop tracking error of the robot is measured by laser tracker. Results show that the tracking error is less than 4.5mm and the Root-Mean-Square-Error (RMSE) is 2.1mm. Besides, the compliance control experiment of the robot shows that the tracking error in impedance control mode is less than 2mm, and the RMSE is 0.95mm, and the drag force in teaching mode is less than 2.5N, which demonstrates good follow-up performance. The proposed compact cable-driving module with high precision could be useful for the design and rapid construction of reconfigurable CDPRs.

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Large-scale 3D printing with cable-driven parallel robots

Cited by 104 publications

References 15 publications

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Workspace and Stiffness Analysis of 3D Printing Cable-Driven Parallel Robot with a Retractable Beam-Type End-Effector

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

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