Overview of cable parallel robots

Jomartov, Assylbek; Kamal, Ahmed; Abduraimov, A.

doi:10.51301/vest.su.2021.i3.27

Cited by 1 publication

(1 citation statement)

References 44 publications

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“…A typical CDPR consists of three parts, including a fixed platform, a mobile platform, and multiple cables that are used to connect the fixed platform to the mobile platform CDPR [3]. The length of the cable can be changed by means of winches driven by motors mounted on a fixed platform as shown in Fig.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Development of a planar cable parallel robot for practical application in the educational process

Jomartov

Kamal

Abduraimov

2021

EEJET

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Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and in everyday life. They consist of an end effector and a base, which connected by several cables. CDPRs have a large workspace compared to the workspace of classic parallel robots. CDPR have a simpler structure have good dynamic properties, high carrying capacity, mobility and low cost. The only drawback is that the CDPR cables can only work for retraction and cannot push. This article presents the design of a prototype of a planar CDPR with four cables for practical use in the educational process. This prototype of a planar CDPR is necessary for a better understanding of the design features, structure, kinematics, statics and dynamics of the CDPR by students. The planar CDPR performs two translational motions, due to the controlled 4 cables, and one rotational motion of the end effector. The research of the kinematics and statics of the planar cable-driven parallel robot is carried out. Simulation of the motion of a planar cable-driven parallel robot in the Python programming language has been carried out. A design was developed and a prototype of the planar cable-driven parallel robot was manufactured. Experimental researches of a prototype of the planar cable-driven parallel robot have been carried out. The results of experimental researches have shown that the CDPR works well enough. During the tests of the prototype of the planar cable-driven parallel robot, it was found that the distortions of the trajectory of the end effector depend on the tension of the cables. It is necessary to monitor the tension level using strain gauges. Based on the analysis of the results obtained, the effectiveness of the use of the prototype of a planar CDPR in the educational process of the robotics course has been confirmed

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Section: Literature Review and Problem Statementmentioning

confidence: 99%