On the effects of the design of cable-Driven robots on kinematics and dynamics models accuracy

González-Rodríguez, Antonio; Castillo-García, Fernando J.; Ottaviano, Erika; Rea, Pierluigi; Gonzalez-Rodriguez, Angel G.

doi:10.1016/j.mechatronics.2017.02.002

Cited by 32 publications

(21 citation statements)

References 17 publications

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“…Pulleys can also be employed if the cable needs to be deflected and not fixed at the distal anchor point. In [45], a pulley system is used at the distal anchor point on the platform to compensate for the effect of the proximal swiveling pulley geometrical model.…”

Section: Guidance Systemmentioning

confidence: 99%

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

2021

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Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure and transmission system consist of light and extendable cables that can withstand high tensile loads. Cables are wound and unwound by a set of motorized winches, so that the robot workspace dimensions mainly depend on the amount of cable that each drum can store. For this reason, these manipulators are attractive for many industrial tasks to be performed on a large scale, such as handling, pick-and-place, and manufacturing, without a substantial increase in costs and mechanical complexity with respect to a small-scale application. This paper presents the design of a planar overconstrained cable-driven parallel robot for quasi-static non-contact operations on planar vertical surfaces, such as laser engraving, inspection and thermal treatment. The overall mechanical structure of the robot is shown, by focusing on the actuation and guidance systems. A novel concept of the cable guidance system is outlined, which allows for a simple kinematic model to control the manipulator. As an application example, a laser diode is mounted onto the end-effector of a prototype to perform laser engraving on a paper sheet. Observations on the experiments are reported and discussed.

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Section: Guidance Systemmentioning

confidence: 99%

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

2021

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“…Inspired by the works in refs. [16,17], a new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The geometry of the proposed CPR is determined through multi-objective optimal design for the largest workspace and the highest stiffness magnitude using the genetic algorithm.…”

Section: Introductionmentioning

confidence: 99%

Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Wang¹,

Li²

2021

Robotica

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In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR.

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“…Additionally, this measure must be carried out with a high enough time resolution to be used by the control loop, which should be within the order of milliseconds. To solve this, the most common procedure is to use the motor’s encoder readings to estimate the end-effector position through kinematic models [ 13 ]. This allows for a high speed reading but, since the end-effector position is not directly measured but is just estimated, it yields position errors that cannot be neglected for most practical applications.…”

Section: Introductionmentioning

confidence: 99%

New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots

Rubio-Gómez

Juárez-Pérez

González-Rodríguez

et al. 2021

Sensors

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Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables. These robots present a wide range of advantages, and the control algorithms required have greater complexity than those in traditional serial robots. Measuring the cable tension is an important task in this type of robot as many control algorithms rely on this information. There are several well-known approaches to measure cable tension in cable robots, where a trade-off between complexity and accuracy is observed. This work presents a new device based on strain gauges to measure cable tension specially designed to be applied in cable-driven parallel robots. This device can be easily mounted on the cable near the fixed frame, allowing the cable length and orientation to change freely, while the measure is taken before the cable passes through the guiding pulleys for improved accuracy. The results obtained from the device show a strong repeatability and linearity of the measures

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On the effects of the design of cable-Driven robots on kinematics and dynamics models accuracy

Cited by 32 publications

References 17 publications

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots

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