Wrench feasible workspace analysis of cable-driven parallel manipulators using LMI approach

Loloei, Azadeh Zarif; Aref, Mohammad M.; Taghirad, Hamid D.

doi:10.1109/aim.2009.5229723

Cited by 13 publications

(6 citation statements)

References 22 publications

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“…To compensate for negative tension and to resolve actuation redundancy in the workspace, the constrained non-linear multivariable optimal method was used. This method gave more reasonable results than other numerical methods (Williams II et al 2008;Gouttefarde et al 2007;Tavolieri et al 2008;Loloei et al 2009;Nakamura 1990) when simulation results were…”

Section: Kinematics Of the 6-dof Cdpr Systemmentioning

confidence: 76%

“…Moreover, static workspaces can be divided into wrench-closure workspaces, whereby any wrench can be generated at the moving platform while cables are under tension (Gouttefarde and Gosselin 2006;Loloei et al 2009;Li et al 2016), wrench-feasible workspaces, where through a set of poses of the platform, any wrench can be generated at the platform by tightening the cables (Gouttefarde and Gosselin 2006;Bosscher et al 2006;Loloei et al 2009;Duan et al 2015), and force-closure workspaces (Pham et al 2006;Diao and Ma 2007).…”

Section: Introductionmentioning

confidence: 99%

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Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

2016

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Section: Kinematics Of the 6-dof Cdpr Systemmentioning

confidence: 76%

Section: Introductionmentioning

confidence: 99%

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

2016

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“…Overall, assistive robotic manipulators like wheelchair-mounted robotic manipulator to help disabled elderly people with their activities of daily livings actually perform lifting and putting down objects mostly. So, in static equilibrium, according to the frame OXYZ in Figure 2(b), the set of all wrenches exerted on the moving platform of the CDHJ due to the end-effector payload, and the weight of link is of the form 45,46…”

Section: Effects Of External Wrench Payload and Structural Parameters (A B D) On Wfwmentioning

confidence: 99%

Design and wrench-feasible workspace analysis of a cable-driven hybrid joint

Zhang

Cao

Min

et al. 2020

International Journal of Advanced Robotic Systems

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This article proposes a cable-driven hybrid joint (CDHJ), focuses on the effects of external wrench payload and structural parameters on the wrench-feasible workspace for the preliminary design of the mechanism, and further discusses the wrench exertion capability of the mechanism under a certain configuration. This CDHJ has central rigid support with a revolute pair and a central compression spring support. Due to the unilateral property of cables and the flexible compression spring, the kinematic model cannot define the workspace directly; it should be combined with the statics for possible solution, including the spring lateral buckling model based on the elliptic integral solution. Moreover, a global tension index which is to evaluate the wrench-closure property of the global workspace, combined with an index which is to assess the size of the workspace, is proposed to better compare the effects of different external wrench payloads and different structural parameters on the workspace. Simulations were performed and demonstrated the correctness and feasibility of the inverse kinematics and workspace analysis of the joint. Hence, the proposed mechanism has potential use in robotics especially in wheelchair-mounted robotic manipulator joint.

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“…A quadratic program was then implemented using an interior point method similar to [38] to solve (9) and determine appropriate values for q q q. Other methods, including particle swarm optimization algorithms, have also been used to find the desired optimal solution from the homogeneous solution set of (8) for parallel cable driven systems [39].…”

Section: Inverse Kinematics and Forcesmentioning

confidence: 99%

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

Sabelhaus

Hylton

et al. 2015

Volume 5A: 39th Mechanisms and Robotics Conference

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The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

show abstract

Wrench feasible workspace analysis of cable-driven parallel manipulators using LMI approach

Cited by 13 publications

References 22 publications

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

Design and wrench-feasible workspace analysis of a cable-driven hybrid joint

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

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