Optimization of the Geometry of a Cable-Driven Storage and Retrieval System

Reichert, Christopher; Brückmann, Tobias

doi:10.1007/978-3-030-17677-8_18

Cited by 7 publications

(5 citation statements)

References 7 publications

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“…In this case, f act is the force measured by the load cell mounted in the kinematic chain of cable i. The high-level PID controller compares f act with the desired one f set,i , which is computed by correcting the output force of the force distribution algorithm f i with the friction force f F estimated through the model in Equation (7). For the computation of f F , the theoretical values f i and v i are used because they yield non-noisy results.…”

Section: Hybrid Control Strategymentioning

confidence: 99%

“…During the last few years, many overconstrained CDPRs have been developed for different aims: in the logistics field for warehousing applications [5][6][7][8], for the construction industry to build and maintain building facades [9,10], or in applications that require lifting heavy loads [11,12]. These robots are also helpful for rehabilitation tasks [13][14][15] or for window cleaning [16].…”

Section: Introductionmentioning

confidence: 99%

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Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

Guagliumi,

Berti,

Monti

et al. 2024

Robotics

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This paper proposes a hybrid position–force control strategy for overconstrained cable-driven parallel robots (CDPRs). Overconstrained CDPRs have more cables (m) than degrees of freedom (n), and the idea of the proposed controller is to control n cables in length and the other m−n ones in force. Two controller implementations are developed, one using the motor torque and one using the motor following-error in the feedback loop for cable force control. A friction model of the robot kinematic chain is introduced to improve the accuracy of the cable force estimation. Compared to similar approaches available in the literature, the novelty of the proposed control strategy is that it does not rely on force sensors, which reduces the hardware complexity and cost. The developed control scheme is compared to classical methods that exploit force sensors and to a pure inverse kinematic controller. The experimental results show that the new controller provides good tracking of the desired cable forces, maintaining them within the given bounds. The positioning accuracy and repeatability are similar those obtained with the other controllers. The new approach also allows an online switch between position and force control of cables.

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Section: Hybrid Control Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

Guagliumi,

Berti,

Monti

et al. 2024

Robotics

View full text Add to dashboard Cite

show abstract

“…Besides, design optimization typically needs to take into account multiple criteria and constraints to reflect specific application requirements such as workspace, desired platform dynamics and stiffness, e.g., as presented in (Reichert and Bruckmann 2019) for the warehousing application shown in Fig. 4.…”

Section: Designmentioning

confidence: 99%

Cable-Driven Parallel Robots

2023

Mechanisms and Machine Science

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Cable-driven parallel mechanisms/manipulators; wire-driven robots; wire robots; cable-suspended robots; cable robots; tendon-based Stewart platforms. DefinitionA Cable-Driven Parallel Robot (CDPR) is a special type of parallel robot where cables replace rigid links. Alternatively, a CDPR can be viewed as a dexterous lifting machine which uses several cables to avoid, at least partially, a sway of the payload. CDPRs generally consist of a supporting structure, winches winding up the cables, and a payload (mobile platform) where the cables are attached.

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“…Many authors analyzed the design process of CDPRs and identified several methods for optimizing their structure and dimensions [1,30]. For a given criterion (i.e., workspace dimension, accuracy, stiffness, orientation capability), optimization procedures help determine the geometry of the CDPR, including the number of cables, position of cable anchor points, and platform and frame shapes [2,15,31]. Once the architecture is known, the hardware design requires developing three distinct systems: the actuation unit, the guidance system, and the mobile platform.…”

Section: Design Strategiesmentioning

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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Optimization of the Geometry of a Cable-Driven Storage and Retrieval System

Cited by 7 publications

References 7 publications

Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

Cable-Driven Parallel Robots

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

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