Simplified static analysis of large-dimension parallel cable-driven robots

Gouttefarde, Marc; Collard, Jean-François; Riehl, Nicolas; Baradat, Cédric

doi:10.1109/icra.2012.6225159

Cited by 56 publications

(60 citation statements)

References 22 publications

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“…This model leads to a single solution for the inverse kinematic [20], while they are multiple solutions with the full model [21]. From the DK view point the unknowns are the 3 coordinates (x i , y i , z i ) of the B i and the F x , F z for a total of 15 unknowns as the θ V may be expressed as functions of the x i , y i .…”

Section: Casementioning

confidence: 99%

Direct kinematics of CDPR with extra cable orientation sensors: The 2 and 3 cables case with perfect measurement and sagging cables

Merlet

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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To cite this version:Jean-Pierre Merlet. Direct kinematics of CDPR with extra cable orientation sensors: the 2 and 3 cables case with perfect measurement and sagging cables. IROS 2017 -IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 2017 Direct kinematics of CDPR with extra cable orientation sensors: the 2 and 3 cables case with perfect measurement and sagging cablesAbstract-Direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on cable lengths measurements is a complex issue even with ideal cables and consequently even harder for more realistic cable models such as sagging cable. A natural way to simplify the DK solving is to add sensors. We consider here sensors that give a partial or complete measurement of the cable direction at the anchor points and/or measure the orientation of the platform of CDPR with 2 or 3 cables and we assume that the measurements are exact. We provide a solving procedure and maximal number of DK solutions for an extensive combination of sensors for CDPR with sagging cables. We show that at least two measurements are necessary for the planar 2 cables case while six are necessary for the spatial 3 cables case. For spatial CDPR with n cables we prove that at least 2n additional sensors will be required to get a closed-form solution of the DK.

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Section: Casementioning

confidence: 99%

Direct kinematics of CDPR with extra cable orientation sensors: The 2 and 3 cables case with perfect measurement and sagging cables

Merlet

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…In the former, either m ≤ n cables are in tension or the MP is suspended from the ceiling by cables and motion relies on gravity (which is also often referred to as cable suspended robot [4], [11]). In the case of m ≤ n cables, the control of the system becomes more complex [8].…”

Section: Introductionmentioning

confidence: 99%

Synthesis of Differentially Driven Planar Cable Parallel Manipulators

2014

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Abstract-In this paper, the idea of using cable differentials in the architecture of planar cable-driven parallel robots is introduced. Cable differentials are a type of mechanisms with several outputs driven by a single input. Using them in cable parallel manipulators can decrease their cost and control complexity. However, due to their kinematic constrains, cable differentials cannot be arbitrarily used in the design of these manipulators. Thus, a synthesis method is proposed to tackle this issue. First, the general requirements and characteristics of differentially-driven planar cable mechanisms are reviewed. Then, the advantages of using these differentials instead of typically actuated cables is shown through a comparison between differentially actuated planar cable robots and fully-actuated ones. The results reveal that with the same number of actuators, using differentials leads to larger workspaces and improved kinetostatic properties. Subsequently, the systematic synthesis of differentially-driven planar cable mechanisms is presented. For this, a method to find the different arrangements of q cables in a differential is proposed. Then, valid arrangements with 2, 3, and 4 cables are investigated. Finally, several differential actuation schemes are considered and all possible differentials with q = 2, 3, and 4 cables are found.

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“…The most general one is that the cable can only be in tension; that is, cables should be kept taut to produce wrench on the end-effector [10]. Besides, the flexibility of cable should be considered in suspended cable parallel robots [11,12].…”

Section: Introductionmentioning

confidence: 99%

An Overview of the Development for Cable-Driven Parallel Manipulator

Tang

2014

Advances in Mechanical Engineering

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In the last two decades, cable-driven parallel robots have attracted a lot of attention in robot community as a hot topic of robot research. In this paper, the development of the cable-driven parallel manipulator is first introduced in general. Second, the latest advance in theory and applications of cable-driven parallel manipulator is presented in detail, especially some notable implementations. Finally, an other probable application foresight with this cable manipulator is proposed and discussed.

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Simplified static analysis of large-dimension parallel cable-driven robots

Cited by 56 publications

References 22 publications

Direct kinematics of CDPR with extra cable orientation sensors: The 2 and 3 cables case with perfect measurement and sagging cables

Direct kinematics of CDPR with extra cable orientation sensors: The 2 and 3 cables case with perfect measurement and sagging cables

Synthesis of Differentially Driven Planar Cable Parallel Manipulators

An Overview of the Development for Cable-Driven Parallel Manipulator

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