Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Zhao, Tao; Zi, Bin; Qian, Shengsheng; Yin, Zeqiang; Zhang, Dan

doi:10.1177/1729881419834756

Cited by 6 publications

(3 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…More clearly, the possibility of manually attaching or detaching a desired number of modular branches enables to adjust their spatial topology as required, where modifying the connection points on the End-Effector allows for applicability to a further diversified spectrum of RAD-related operations. The vector closed rule and the Lagrange method constitute essential elements in analyzing, understanding and solving the underlying Inverse Kinematic Problem 11 using Inverse Dynamic Programming 12 , which is a prerequisite for making use of the robot in an effective and efficient way [75].…”

Section: A Types Of Robotsmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

View full text Add to dashboard Cite

Despite their contributions to the financial efficiency and environmental sustainability of industrial processes, robotic assembly and disassembly have been understudied in the existing literature. This is in contradiction to their importance in realizing the Fourth Industrial Revolution. More specifically, although most of the literature has extensively discussed how to optimally assemble or disassemble given products, the role of other factors has been overlooked. For example, the types of robots involved in implementing the sequence plans, which should ideally be taken into account throughout the whole chain consisting of design, assembly, disassembly and reassembly. Isolating the foregoing operations from the rest of the components of the relevant ecosystems may lead to erroneous inferences toward both the necessity and efficiency of the underlying procedures. In this paper we try to alleviate these shortcomings by comprehensively investigating the state-of-the-art in robotic assembly and disassembly. We consider and review various aspects of manufacturing and remanufacturing frameworks while particularly focusing on their desirability for supporting a circular economy.

show abstract

Section: A Types Of Robotsmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Reconfigurable mechanisms include metamorphic mechanisms and motion bifurcation mechanisms; the difference between them is mainly whether the topological structure of the mechanism has changed. There are six basic evolutionary rules of the metamorphic mechanism: (1) the mechanism's number of limbs changes [5]; (2) the relative position of each limb and platform of the mechanism changes [6]; (3) the parameters (number, relative position, and geometric parameters) in each limb of the mechanism change [7]; (4) the parameters of the kinematic pairs (type, quantity, direction, and relative position) in each limb of the mechanism change [8]; (5) the moving platform is transformed into a non-rigid series open-loop mechanism or a closed-loop mechanism with an integrated end-effector [9]; (6) the mechanism switches between the reference and moving plane [10]. The basic evolution rule of motion of bifurcation mechanisms is to change the instantaneous freedom of the mechanism by switching different motion modes through a singular configuration.…”

Section: Introductionmentioning

confidence: 99%

Motion Branch Transformation of 3(Rc)PU Parallel Mechanism with Reconfigurable Joint and Kinematic Performance Index

Chai,

Li,

Ning

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

A novel 3(Rc)PU parallel mechanism based on the reconfigurable circular groove cross joint (Rc joint) is proposed. The motion branch transformation relationship and constraint performance evaluation method for the mechanism are studied. According to constrained screw analysis, the (Rc)PU limb provides a constraint couple to the moving platform in one motion mode and no constraint to the platform in another motion mode. According to the two configurations of the limb, the 3(Rc)PU mechanism has four different motion branches, namely 3T, 1R3T, 2R3T, and 3R3T. Based on the input selection principle, the input selection scheme of the 3(Rc)PU mechanism is determined, and it is concluded that, to achieve stable motion, at least two input drive pairs need to be applied on each limb. A unified kinematic model with four motion branches is established, and the geometric constraint equations of the 3(Rc)PU parallel mechanism are derived. After selecting the input actuated joints, the local minimization transmission index (LMTI) of the reconfigurable mechanism under different motion branches is established to evaluate the motion/force transmission performance of the reconfigurable mechanism under different motion branches. The conclusion shows that the LMTI values satisfy the corresponding constraint conditions, and the 3(Rc)PU parallel mechanism has good motion/force transmission performance.

show abstract

“…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. In References [24,25] the authors analyzed several typical configurations of a modular reconfigurable cable-driven parallel robot. Finally, in Reference [26] the author presented a study of the advantages of reconfigurable platforms in parallel robots and suggested a new method for dealing with the constrains in the kinematic coupling of limbs.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2019

View full text Add to dashboard Cite

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.

show abstract

Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Cited by 6 publications

References 32 publications

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Motion Branch Transformation of 3(Rc)PU Parallel Mechanism with Reconfigurable Joint and Kinematic Performance Index

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

Contact Info

Product

Resources

About