A Cartesian Cable-Suspended Robot for improving end-users' mobility in an urban environment

Castelli, Gianni; Ottaviano, Erika; Rea, Pierluigi

doi:10.1016/j.rcim.2013.11.001

Cited by 35 publications

(24 citation statements)

References 19 publications

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“…Flexibility can be pursued by using 2-DOFs in the sagittal plane to accomplish any desired trajectory, otherwise with 1-DOF mechanism the system should be synthesized adhoc. Mechanical solutions based on rigid links having 1, 2 or 3 DOFS can be used (Colombo et al, 2000;Tsukahara et al, 2009;Chuy et al, 2006), or systems based on cable-driven robots, as described in (Castelli and Ottaviano, 2010;Castelli et al, 2014).…”

Section: Design Issues On the Support Transfer Mechanismmentioning

confidence: 99%

Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

Rea¹,

Ottaviano²,

Castelli³

2017

American Journal of Engineering and Applied Sciences

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This paper presents a performance evaluation and results on the modelling and simulation of an assisting device to be used as aiding or guiding system for people with reduced mobility. There is a high level of motivation for elderly to perform independently basic Activities of Daily Life (ADL). Therefore, it is of great interest to design and implement reliable assisting devices that are able to help end-users mobility. Sit-To-Stand represent one of the most common ADL and a number of different devices have been proposed to reproduce a "normallike" movement. In general, a robot for a medical application should be able to interact with a patient in safe conditions, i.e., it must not damage people or surroundings; it must be designed to guarantee high accuracy and low accelerations during the operation. In addition, it should not be too bulky to interact closely with people. It can be advisable to have an easy-in-use and low-cost system, which can be used also in a domestic environment. In this study, a performance evaluation of a Sit-To-Stand assisting device is analyzed in terms of main characteristics, such as kinematic features and actuation requirements. Experimental tests were used to analyze a "normal-like" Sit-To-Stand movement and simulation results have been reported by considering a model of the human body interacting with the proposed assisting device.

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Section: Design Issues On the Support Transfer Mechanismmentioning

confidence: 99%

Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

Rea¹,

Ottaviano²,

Castelli³

2017

American Journal of Engineering and Applied Sciences

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“…Overhead crane dynamics has been studied in the research efforts of such scientists as Abdel-Rahman et al (2003) [1], Deen Ali et al (2005) [2], Arena et al (2015) [3], Cartmell et al (1998) [4], Castelli et al (2014) [5], Cha et al (2010) [6], Goodwin (1997) [7], Huang Sawodny et al (2002) [11], Smoczek (2014) [12], Zi et al (2008) [13]. Abdel-Rahman et al (2003) have discussed mechanical design schemes and mathematical models of gantry cranes and bidirectional gantry cranes with translational displacements of payloads [1].…”

Section: Background and Introductionmentioning

confidence: 99%

“…A 2D kinematic model of the present article generalizes Arena's model in the vertical plane [3]. Castelli et al (2014) have studied a kinetostatic model of a Cartesian cable-suspended robot [5]. A kinematic model of Castelli et al (2014) is focused on the transportation of a payload using double cables with variable lengths, which provide translational linear motion of the payload without obstacles.…”

Section: Background and Introductionmentioning

confidence: 99%

Research into 2D Dynamics and Control of Small Oscillations of a Cross-Beam during Transportation by Two Overhead Cranes

Perig¹,

Stadnik²,

Kostikov³

et al. 2017

Shock and Vibration

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A new mathematical model of a 3DOF 2D mechanical system “transported cross-beam, two moving bridge cranes” has been proposed. Small system oscillations have been derived through the introduction of Lagrange equations. The numerical estimation of 3DOF system motion has been carried out with equation-based Modelica language. The present article uses the Lagrange method and numerical and optimization methods, realized with JModelica.org and Optimica freeware. The absolute swaying of the cross-beam with respect to the displacement of the two moving bridge cranes was estimated. The phase portraits of the 3DOF system for linear and angular coordinates were presented. An open loop optimal control problem was posed for the motion of the bridge cranes. A “bang-bang” control strategy was implemented for the derivation of an optimal control solution, which enables the travel of two bridge cranes at a prescribed distance for minimum time and minimum swaying of a heavy cross-beam. The derived results of the numerical simulation can be easily practically realized by crane operators with good agreement with simple engineering estimations. The proposed control strategy enables synchronous motion of two bridge cranes with a cross-beam that practically solves the posed problem of unwanted excessive oscillations of a heavy cross-beam during transportation.

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“…[2][3][4][5] Some practical application designs such as fabrication prototype 6 and cable system for improving mobility (CaSIMo) 7 were proposed and studied as spatial redundantly actuated cable-driven robot and cable-suspended robot. The difference between these two types of cable parallel robots is that the latter has to take advantage of gravity of the end-effector and the load applied on it while the former one does not.…”

Section: Introductionmentioning

confidence: 99%

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Tang

2016

Advances in Mechanical Engineering

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This article proposes a deduction method of algebraic expression of static wrench-closure workspace boundary for planar 3-degree-of-freedom cable-driven parallel robots based on the antipodal theorem. Different from interval method and discretization approach, a more precise algebraic expression of workspace boundary can be obtained without undetermined region or costly computation burden to make the design process and optimization easy and feasible. In order to illustrate and study the conic characteristics of workspace boundary, a case study is conducted on a four-cable-driven 3-degree-of-freedom parallel robot. Simulation results show that the type of conic of boundary depends on the determinant of the specific deduced matrix and corresponds to which cable is collinear with the intersection line. In addition, the results also demonstrate that the boundary of workspace consists of the same type of two conics (i.e. ellipse, parabola, and hyperbola), and the region surrounded by these two quadratic curves is the smallest when the type of the border equation is parabola.

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A Cartesian Cable-Suspended Robot for improving end-users' mobility in an urban environment

Cited by 35 publications

References 19 publications

Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

Research into 2D Dynamics and Control of Small Oscillations of a Cross-Beam during Transportation by Two Overhead Cranes

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

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