Wire Robots Part I: Kinematics, Analysis &amp; Design

Brückmann, Tobias; Mikelsons, Lars; Brandt, T.; Hiller, Manfred; Schramm, Dieter

doi:10.5772/5365

Cited by 65 publications

(42 citation statements)

References 20 publications

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“…(Bruckmann, Mikelsons, Brandt, Hiller & Schramm, 2008a;Fang, 2005;Hiller et al, 2005;Verhoeven, 2004). Besides the acceleration potential, the large workspace of wire robots is advantageous which was addressed e.g.…”

Section: History and State Of The Artmentioning

confidence: 99%

“…Note, that this implementation cannot be used for realtime control since the worst-case run-time in each control cycle cannot be guaranteed a priori. Several approaches are known to handle this problem (Borgstrom et al, 2009;Bruckmann, Mikelsons, Brandt, Hiller & Schramm, 2008a;Bruckmann et al, 2007b;Bruckmann, Pott, Franitza & Hiller, 2006;Ebert-Uphoff & Voglewede, 2004;Fattah & Agrawal, 2005;Oh & Agrawal, 2005;Verhoeven, 2004). In this application, a force minimizing algorithm for realtime force distribution will be implemented, using a geometric approach (Bruckmann, 2010;Bruckmann et al, 2009;Mikelsons et al, 2008).…”

Section: Dynamicsmentioning

confidence: 99%

“…Additionally, the unilateral properties of the wires have to be taken into account as introduced in section 2: On the one hand, wires have a limited breaking load, on the other hand, the wires need a defined minimum tension to avoid slackness. Accordingly, the force distribution f can be formulated as a constrained nonlinear optimization problem (Bruckmann, Mikelsons, Brandt, Hiller & Schramm, 2008a) with…”

Section: Dynamicsmentioning

confidence: 99%

See 2 more Smart Citations

Wire Robot Suspension Systems for Wind Tunnels

Sturm¹,

Lalo²,

Brückmann³

2011

Wind Tunnels and Experimental Fluid Dynamics Research

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Section: History and State Of The Artmentioning

confidence: 99%

Section: Dynamicsmentioning

confidence: 99%

Section: Dynamicsmentioning

confidence: 99%

See 1 more Smart Citation

Wire Robot Suspension Systems for Wind Tunnels

Sturm¹,

Lalo²,

Brückmann³

2011

Wind Tunnels and Experimental Fluid Dynamics Research

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“…Solving this CSP with the methods proposed in [6] and [7] leads to a solution set represented as a list of boxes L s ⊂ X S containing the geometrical parameters of the manipulators.…”

Section: Workpace Synthesismentioning

confidence: 99%

Continuous workspace analysis for parallel cable‐driven Stewart‐Gough platforms

Brückmann

Mikelsons

Schramm

et al. 2007

Proc Appl Math and Mech

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Parallel cable-driven Stewart-Gough platforms consist of a end-effector which is connected to the machine frame by motor driven cables. Since cables can transmit only tension forces, at least m = n + 1 cables are needed to tense a system having n degrees-of-freedom. This results in a kinematical redundancy and leads to a (m − n)-dimensional solution space for the cable force distribution. For this reason, performing a workspace analysis requires advanced methods and is time consuming. However, reliable and robust algorithms are demanded to calculate the workspace for a given parameter set (winch positions and platform anchor points). Discrete methods are widely used to analyze the workspace. Singularities as well as cable collisions inside the workspace of a cable-driven Stewart-Gough platform are possible [1]. Therefore discrete methods may deliver wrong results due to the fact that intermediate points on the discrete calculation grids are neglected. In this paper, another approach is presented. The use of intervals avoids the problems described above and leads to reliable results. In the following the basic ideas of this continuous workspace analysis are shown. For practical application, e.g. in robotics, even more important is the parameter synthesis, i.d. the process of designing a robot for a predefined workspace. However, the workspace geometries are very complex and not intuitive in general. Here, the analysis methods are also extended for synthesis.

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“…Modeling of CDPM has been presented in many research work before e.g. [24,25,26,3]. However, in this section, our main objective is to present the overall dynamics of CDPM (both winches and platform) in compact form and linear in all dynamic parameters.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

El-Ghazaly

Gouttefarde

Creuze

2014

Mechanisms and Machine Science

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This paper presents an extended adaptive control scheme via terminal sliding mode (TSM) for cable-driven parallel manipulators (CDPM). Compared with linear hyperplane-based sliding mode control, TSM is able to guarantee highprecision and robust tracking performances which arise from its main feature of finite-time convergence. This motivates applying TSM to robotic manipulators in general and, as presented in this paper, to CDPM in particular. The scheme presented in this paper extends early developed TSM control schemes which are based on partial knowledge of system dynamics. Instead, making use of the property that the dynamic models of mechanical manipulators are linear in inertial parameters, an adaptive control law is synthesised based on an appropriate choice of Lyapunov function which guarantees finite-time convergence to neighborhood of sliding mode. A key challenge of the control of CDPM is that cable tensions must be admissible, i.e. lying in a non-negative range of admissible values. As long as cable tensions are admissible, the overall dynamics of CDPM can be easily written in either actuator space or operational space which in turn facilitates control system design. The extended adaptive control scheme has been applied to a large redundantly actuated CDPR prototype, CoGiRo. Simulation results show the effectiveness of the proposed control method.

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Wire Robots Part I: Kinematics, Analysis & Design

Cited by 65 publications

References 20 publications

Wire Robot Suspension Systems for Wind Tunnels

Wire Robot Suspension Systems for Wind Tunnels

Continuous workspace analysis for parallel cable‐driven Stewart‐Gough platforms

Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

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