Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

Abstract

Cable-driven parallel robots (CDPRs) hold numerous advantages over conventional parallel robots in terms of high speed and large workspace. Cable-driven parallel robots whose workspace can be further increased by the modification of their geometric architecture are known as reconfigurable cable-driven parallel robots. A novel concept of reconfigurable cable-driven parallel robots that consists of a classical cable-driven parallel robot mounted on multiple mobile bases is known as mobile CDPR. This paper proposes a methodology to trace the wrench-feasible workspace of mobile cable-driven parallel robots by determining its available wrench set. Contrary to classical cable-driven parallel robots, we show that the available wrench set of a mobile cable-driven parallel robot depends, not only on the cable tension limits but also on the static equilibrium conditions of the mobile bases. The available wrench set is constructed by two different approaches known as convex hull approach and hyperplane shifting method. Three case studies are carried out for the validation of the proposed methodology. The proposed approach is experimentally validated on a mobile cable-driven parallel robot with a point-mass end-effector and two mobile bases.

Modeling in Two Configurations of a 5R 2-DoF Planar Parallel Mechanism and Solution to the Inverse Kinematic Modeling Using Artificial Neural Network

“…Here, p, q, r, s 2   , are complex numbers of unit norm [44]. Expressions (6) are written in terms of the fixed inertial base and complex of the unit norm; that is, based on the expressions (7): This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.…”

“…These features are essential in industrial applications, such as simulators, machine tools, and CNCs, among others [2]. Due to their special characteristics, parallel robots are currently studied by various authors [3,4,5,6,7,8].…”

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

“…, t 8 ] T is the cable tension vector and W c is the matrix assigning the cables to the cable-loops. If cable pairs (1, 2), (3,4) and (5, 6) respectively correspond to cableloops 1, 2 and 3, W c will take the form:…”

“…Reconfigurability of the CDPRs is suitable for versatile applications especially in an industrial context [3,4]. CD-PRs have drawn researchers' interests towards robotic applications such as pick-and-place operations, robotic machining, manipulation, intralogistics measurements and calibration systems [5,6].…”

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

“…Reconfigurability of the CDPRs is suitable for versatile applications especially in an industrial context [3,4,5]. CDPRs have drawn researchers' interests towards robotic applications such as pick-and-place operations, robotic machining, manipulation, intralogistics measurements and calibration systems [6].…”