Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance

Nguyen, Dinh Quan; Gouttefarde, Marc

doi:10.1109/iros.2014.6942781

Cited by 36 publications

(13 citation statements)

References 21 publications

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“…Superscript d indicates the desired (prescribed) values and e Fx ; e Fy ; and e M are the maximum acceptable distances between mean and the desired values of the wrench vector elements. Inequality constraint (33) ensures the kinematic feasibility of the cable orientations (typically to avoid the collision) and (34) guarantees that optimal tensions are consistent with the force capacity of the agents. Depending on application scenario, different variant of optimization problems can be formulated by selecting various combinations of objective functions.…”

Section: Base Configuration and Cable Tension Optimizationmentioning

confidence: 99%

“…Although conventional cable-robots use fixed bases with varying cable lengths [23][24][25][26][27][28], recent studies [29][30][31][32][33][34][35] focus on reconfigurable systems where the cable lay out can be changed through mobility of the bases. The configuration optimization has been considered to improve some performance indices such as dexterity [30], tension factor [32,36], and power consumption and stiffness [34,35]. However, in this work, our main focus is to reduce the uncertainty of the generated wrench at the platform that directly impacts the platform position uncertainty.…”

Section: Introductionmentioning

confidence: 99%

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Wrench Uncertainty Quantification and Reconfiguration Analysis in Loosely Interconnected Cooperative Systems

Sovizi

Rai

Krovi

2017

ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems, Part B: Mechanical Engineering

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Loosely interconnected cooperative systems such as cable robots are particularly susceptible to uncertainty. Such uncertainty is exacerbated by addition of the base mobility to realize reconfigurability within the system. However, it also sets the ground for predictive base reconfiguration in order to reduce the uncertainty level in system response. To this end, in this paper, we systematically quantify the output wrench uncertainty based on which a base reconfiguration scheme is proposed to reduce the uncertainty level for a given task (uncertainty manipulation). Variations in the tension and orientation of the cables are considered as the primary sources of the uncertainty responsible for nondeterministic wrench output on the platform. For nonoptimal designs/configurations, this may require complex control structures or lead to system instability. The force vector corresponding to each agent (e.g., pulley and cable) is modeled as random vector whose magnitude and orientation are modeled as random variables with Gaussian and von Mises distributions, respectively. In a probabilistic framework, we develop the closed-form expressions of the means and variances of the output force and moment given the current state (tension and orientation of the cables) of the system. This is intended to enable the designer to efficiently characterize an optimal configuration (location) of the bases in order to reduce the overall wrench fluctuations for a specific task. Numerical simulations as well as real experiments with multiple iRobots are performed to demonstrate the effectiveness of the proposed approach.

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Section: Base Configuration and Cable Tension Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Wrench Uncertainty Quantification and Reconfiguration Analysis in Loosely Interconnected Cooperative Systems

Sovizi

Rai

Krovi

2017

ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems, Part B: Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Barbazza et al [21] proposed a reconfigurable end-effector for industrial operations where cables are reconfigured in each stage to avoid collisions and a planned trajectory to minimize reconfiguration times. Nguyen et al [22] studied a larger reconfigurable robot for transporting personnel in an airplane maintenance shop, taking into consideration the top limit of displacement of the mobile platform and the increase of energy usage due to the tensions on the cables. Pott et al [23] suggested a method to determine the space taken by the cables when the robot is moving, considering that the cable trajectory takes the form of a cone.…”

Section: Introductionmentioning

confidence: 99%

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

et al. 2019

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Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.

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“…Rosati et al [32,36] and Zhou et al [38,39] focused their work on planar RCDPRs. Recently, Nguyen et al [27,26] proposed reconfiguration strategies for large-dimension suspended CDPRs mounted on overhead bridge cranes. Contrary to these antecedent studies, this chapter considers discrete reconfigurations where the locations of the cable exit points are selected from a finite set (grid) of possible values.…”

Section: Introductionmentioning

confidence: 99%

Design of Reconfigurable Cable-Driven Parallel Robots

Gagliardini

Gouttefarde

Caro

2018

Intelligent Systems, Control and Automation: Science and Engineering

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This chapter is dedicated to the design of Reconfigurable Cable-Driven Parallel Robots (RCDPRs) where the locations of the cable exit points on the base frame can be selected from a finite set of possible values. A task-based design strategy for discrete RCDPRs is formulated. By taking into account the working environment, the designer divides the prescribed workspace or trajectory into parts. Each part shall be covered by one configuration of the RCDPR. Placing the cable exit points on a grid of possible locations, numerous CDPR configurations can be generated. All the possible configurations are analysed with respect to a set of constraints in order to determine the parts of the prescribed workspace or trajectory that can be covered. The considered constraints account for cable interferences, cable collisions, and wrench feasibility. The configurations satisfying the constraints are then compared in order to find the combinations of configurations that accomplish the required task while optimising one or several objective function(s). A case study comprising the design of a RCDPR for sandblasting and painting of a three-dimensional tubular structure is finally presented. Cable exit points are reconfigured, switching from one side of the tubular structure to another, until three external sides of the structure are covered. The optimisation includes the minimisation of the number of cable attachment/detachment operations required to switch from one configuration to another one, minimisation of the size of the RCDPR, and the maximisation of the RCDPR stiffness.

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Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance

Cited by 36 publications

References 21 publications

Wrench Uncertainty Quantification and Reconfiguration Analysis in Loosely Interconnected Cooperative Systems

Wrench Uncertainty Quantification and Reconfiguration Analysis in Loosely Interconnected Cooperative Systems

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

Design of Reconfigurable Cable-Driven Parallel Robots

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