On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis

Fortin-Côté, Alexis; Faure, Céline; Bouyer, Laurent J.; McFadyen, Bradford J.; Mercier, Catherine; Bonenfant, Michaël; Laurendeau, Denis; Cardou, Philippe; Gosselin, Clément

doi:10.1007/978-3-319-61431-1_33

Cited by 10 publications

(18 citation statements)

References 15 publications

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“…A r ← Remove Columns(A, I removed ) % A r is obtained from A by removing its columns whose indices ∈ I removed 14: end while from row h of ( 9), with h defined in (17), and the components t max,i of t max such that i ∈ I + h are not involved in this row since a hi = 0 for i ∈ I + h . Other optimal solutions to (13) may thus be obtained since the maximum cable tension components t max,i , i ∈ I + h , can be smaller than the optimal value t * max defined in (15) while the inequality constraints in (9) remain satisfied.…”

Section: Set Of Optimal Solutions: a Convex Polytopementioning

confidence: 99%

“…In other words, T max is the set of smallest maximum cable tension vectors t max such that f can be generated with cable tensions t verifying (3). It is proved in Appendix C that T max is a convex polytope whose representation as the solution set of a system of linear inequalities can directly be obtained from ( 9) and ( 14)- (15).…”

Section: Set Of Optimal Solutions: a Convex Polytopementioning

confidence: 99%

“…Finding an efficient CDPR configuration being given a set of requirements is generally challenging. The configuration can be synthesized based on previously known configurations or on the designer experience and intuition e.g., [9], [14], [15] but, in many previous works, the configuration is synthesized by formulating a constrained optimization problem.…”

Section: Introductionmentioning

confidence: 99%

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Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

Hussein

Santos

Izard³

et al. 2021

IEEE Trans. Robot.

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The maximum cable tension is a crucial parameter in the design of a cable-driven parallel robot (CDPR) since the various mechanical components of the CDPR must be designed to safely withstand the loads induced by this maximum tension. For CDPRs having a number of cables at least equal to its number of DOFs, this paper deals with the determination of the smallest maximum cable tension vectors allowing a required wrench set to be feasible. The problem is formulated as the minimization of the maximum cable tension infinity norm under linear inequality constraints which include the wrench-feasibility constraints. The solution to this minimization problem is not unique, and the solution set is shown to be a convex polytope in the maximum tension space. Hence, various smallest maximum tension vectors generally exist and the computations of two different solution vectors are introduced. The first vector has all its components equal to the minimum infinity norm which can be directly obtained from the minimization problem inequality constraints. An algorithm is proposed to determine the second vector as the solution vector having the least possible value for each of its components. The computation of the smallest maximum tension vectors for general required wrench sets are then presented. The cases of particular wrench set definitions relevant to heavy payload manipulation applications are also introduced. Finally, these contributions are applied to the configuration (geometry) optimization of a large-dimension 6-DOF CDPR installed on a building facade to manipulate heavy payloads.

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Section: Set Of Optimal Solutions: a Convex Polytopementioning

confidence: 99%

Section: Set Of Optimal Solutions: a Convex Polytopementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

Hussein

Santos

Izard³

et al. 2021

IEEE Trans. Robot.

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“…In the VE-Haptic condition, a six-degree-of-freedom cable-driven parallel mechanism (cable-driven robot; [22]) was used to create forces on an end-effector manipulated by the participant that simulated the crate mass of 2kg as well as the physical constraints of the shelves (mechanical stops in the vertical and horizontal directions) ( Fig. 2.B.).…”

Section: B Handling Task Protocolmentioning

confidence: 99%

“…Recently, a new prototype of a full body haptic interface was created to add haptic feedback to complex virtual tasks in a large workspace [22]. A cable-driven architecture composed of eight cables allowed the user to move an end-effector with six degrees of freedom within a workspace to provide haptic rendering of the weight of a virtual crate and any collisions with the VE constraints such as shelving.…”

Section: Introductionmentioning

confidence: 99%

Adding Haptic Feedback to Virtual Environments With a Cable-Driven Robot Improves Upper Limb Spatio-Temporal Parameters During a Manual Handling Task

Faure

Fortin-Côté

Robitaille

et al. 2020

IEEE Trans. Neural Syst. Rehabil. Eng.

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Physical interactions within virtual environments are often limited to visual information within a restricted workspace. A new system exploiting a cable-driven parallel robot to combine visual and haptic information related to environmental physical constraints (e.g. shelving, object weight) was developed. The aim of this study was to evaluate the impact on user movement patterns of adding haptic feedback in a virtual environment with this robot. Twelve healthy participants executed a manual handling task under three conditions: 1) in a virtual environment with haptic feedback; 2) in a virtual environment without haptic feedback; 3) in a real physical environment. Temporal parameters (movement time, peak velocity, movement smoothness, time to maximum flexion, time to peak wrist velocity) and spatial parameters of movement (maximum trunk flexion, range of motion of the trunk, length of the trajectory, index of curvature and maximum clearance from the shelf) were analysed during the reaching, lowering and lifting phases. Our results suggest that adding haptic feedback improves spatial parameters of movement to better respect the environmental constraints. However, the visual information presented in the virtual environment through the head mounted display appears to have an impact on temporal parameters of movement leading to greater movement time. Taken together, our results suggest that a cable-driven robot can be a promising device to provide a more ecological context during complex tasks in virtual reality.

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Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot

Hirosato

Harada

2019

Mechanisms and Machine Science

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On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis

Cited by 10 publications

References 15 publications

Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

Adding Haptic Feedback to Virtual Environments With a Cable-Driven Robot Improves Upper Limb Spatio-Temporal Parameters During a Manual Handling Task

Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot

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