Prediction of slip in cable-drum systems using structured neural networks

In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.

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“…By substituting Eq. (28) and (29) into Eq. (30) and by using the property of orthogonal matrices T T T = I, it follows:…”

Section: Appendix a Mathematical Derivations Of The Vrd Synthesismentioning

confidence: 99%

“…Examples of research studies in cable-drum systems can be found in [28], where a cable mechanism is used as linear motion sensor, in [29], where a study on the prediction of slip in cable-drum system is proposed, and in [25], where the transmission backlash of a precise cable drive system is analysed and experimentally measured.…”

Section: Introductionmentioning

confidence: 99%

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera

Gallina

Seriani³

et al. 2018

IEEE Trans. Robot.

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“…Past studies have involved the design and performance analysis methods of the precise cable drive (Baser and Konukseven, 2010;Kilic and Dolen, 2014;Lu and Fan, 2013;Jung et al, 2008), but most of those have focused on SISO configuration. The following issues need to be considered for the proposed novel configuration.…”

Section: Introductionmentioning

confidence: 99%

Compact design of a novel precise cable drive mechanism with high precision and large torque-to-weight ratio

et al. 2019

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Abstract. Precise cable drive is an elegant transmission mode and has many advantages of high efficiency, flexible layout, besides being lightweight. Since the common layout, Single-Input Single-Output (SISO) spur gear configuration, suffers from low torque-to-weight ratio and loose structure, this paper proposes a novel transmission configuration with large torque-to-weight and compact size. It combines the advantages of Multiple-Input Single-Output (MISO) configuration and bevel gear configuration. The design methods and transmission kinematics of the novel configuration are studied. An analytical model is developed for characterizing the transmission backlash of the proposed configuration, which is derived by simultaneous satisfying system's constitutive relation, equilibrium, and geometric constraints. Parametric sensitivities are carried out to investigate the influence of the major design parameter on the transmission characteristics. At last, a prototype of MISO with bevel gear configuration cable drive mechanism (MBCDM) is built, with which a series of experiments are carried out. This mechanism could achieve maximum output torque of 3.3 Nm with considerable toque-to-weight ratio of 9.649 Nm kg−1. The experimental results show that the transmission backlash and ripple torque are dominant nonlinear effects in the MBCDM system. It shows that the ripple torque is connected with the rotational displacement, with the highest peak at 694.3 cycle rad−1 and the amplitude of 24.67 µrad. The transmission backlash experimental results are in good agreement with simulation ones, with the error level of 4.14 %.

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Variable Radius Drum Mechanisms

Seriani

Gallina

2015

Journal of Mechanisms and Robotics

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This paper presents the concept of variable radius drum mechanisms (VRDMs). A drum, or spool, consists of a spindle with flanges, around which a cable is wound. The cylindrical surface of an ordinary spool has a constant radius. In a variable radius drum (VRD), the radius of the spool varies along its profile. Properties of such devices are discussed, as well as the kinematic analysis and synthesis. The main contribution of the work is the theory of the VRD synthesis problem, rooted in a closed-form analytical solution. In order to highlight the benefits of VRDMs, two applications are presented and analyzed as examples. The first example consists of a mechanism which can support and guide a load along a horizontal linear path. The second example shows a solution to improve the locomotion of a legged robot. Finally, a prototype is made on the basis of the first case scenario and its performance is evaluated and discussed, showing a remarkable accuracy, with a deviation from the nominal trajectory of less than 1%.

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Prediction of slip in cable-drum systems using structured neural networks

Cited by 3 publications

References 23 publications

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Compact design of a novel precise cable drive mechanism with high precision and large torque-to-weight ratio

Variable Radius Drum Mechanisms

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