On the Improvements of a Cable-Driven Parallel Robot for Achieving Additive Manufacturing for Construction

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

doi:10.1007/978-3-319-61431-1_30

Cited by 20 publications

(10 citation statements)

References 13 publications

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“…CDPRs may be used in some application fields where industrial robots cannot be used due to limitation of their workspace, payload and the required cycle time. These specifications have attracted the interest of many researchers [1,2,3].…”

Section: Introductionmentioning

confidence: 99%

Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

Baklouti

Courteille

Lemoine

et al. 2019

Mechanism and Machine Theory

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This paper deals with the elasto-dynamic model-based control of Cable-Driven Parallel Robots (CDPRs), which manifests in the coupling of a PID feedback controller with a model-based feed-forward control scheme. The feed-forward controller is derived from an inverse elasto-dynamic model of CDPR, which compensates the end-effector dynamics and specifically its vibrations due to cable elasticity. The integration of cable tension calculation into this control strategy guarantees positive cable tensions along the trajectory. Simulations and experimentations while using a suspended and non-redundant CDPR show that tracking errors and vibrations can be reduced by the proposed strategy compared to conventional rigid-body model-based control.

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Section: Introductionmentioning

confidence: 99%

Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

Baklouti

Courteille

Lemoine

et al. 2019

Mechanism and Machine Theory

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“…It depends also on the unit vectors f u Ai directing the tangents to the cables at their drawing points and on some constant (calibration) parameters ( e B i , b A i , m T e and f T b ). Additionally, to compute the instantaneous inverse kinematics model (14), the rotation matrix Ai R b , which depends on the angle γ i defined in (1), needs to be defined. This angle can also be computed using…”

Section: Measurement Needsmentioning

confidence: 99%

“…Among other difficulties related to accurate CDPR modeling, cable elasticity, whose modeling and identification is often an issue in practice e.g. [12][13][14][15][16] 1 , can notably be avoided. Hence, it is worth investigating the use of visual servoing to accurately control the pose of the mobile platform of large-dimension CDPRs.…”

Section: Introductionmentioning

confidence: 99%

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

et al. 2019

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This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m x 11 m x 6 m (L x l x h). A maximum error of less than 1 cm in position and 0.5 • in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.

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“…There have been many studies on CDPRs the last twenty years due to their multiple and varied applications [6,7]. Here are some CDPR application cases : surface finishing [8], additive manufacturing of large parts [9], camera displacement for filming sports events [10] and even one part of a giant radio telescope [11]. CDPRs are usually composed of a fixed frame, a set of actuators and winches mounted to the ground, a MP and cables that connect the latter to the winches via pulleys.…”

Section: Introductionmentioning

confidence: 99%

Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity

Paty

Binaud

Caro

et al. 2021

Mechanism and Machine Theory

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Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs are replaced by cables that are guided by pulleys. In many papers, the pulleys are considered as fixed points of passage and the cable elasticity is neglected. Those approximations simplify the robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with the modelling of suspended CDPRs considering the geometry and kinematics of the pulleys as well as the cable elasticity. Furthermore, a novel pulley architecture with an universal joint is designed. It is introduced to increase the accuracy of CDPRs and limit the bending moment in the pulleys. Then a sensitivity analysis conducted on these newly established models allows to precisely quantify the effect of design parameters on the MP pose and to exhibit the set of the most influentials elasto-geometric parameters. Both standard and extended direct elasto-geometric static models of the CDPRs are numerically solved to determine the MP pose for given cable lengths and external wrench. Then, an index is defined based on the MP pose difference, the latter being traced through the robot Cartesian workspace. This index is used to analyze and compare the pulleys effects on the MP pose errors. It turns out that the interaction between pulleys geometrical parameters are significant and should be considered in the elasto-geometric static models. Finally, it is shown that a CDPR equipped with the novel pulley architecture is more sensitive to cable elasticity, but this new architecture helps reducing the overall MP error.

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On the Improvements of a Cable-Driven Parallel Robot for Achieving Additive Manufacturing for Construction

Cited by 20 publications

References 13 publications

Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity

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