Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots

Tempel, Philipp; Schmidt, Andreas; Haasdonk, Bernard; Pott, Andreas

doi:10.1007/978-3-319-60867-9_23

Cited by 6 publications

(3 citation statements)

References 7 publications

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“…Cable-driven parallel robots are defined as robotic systems, in which the flexible parallel links are driven by actuated spools, where the position of the "end effector" can be controlled by extending or retracting the cables while maintaining a positive tension in all of them (Tempel and Pott 2016;Michelin et al 2015;ISO8373 2012;Collard et al 2011;Merlet and Gosselin 2008;Merlet 2000;Landsberger 2005). They allow for a large "working space", which is determined by the amount and the length of the cables, the fixing height of the pulleys, the weight of the "end effector" and its moving speed (Tempel et al 2018;Tempel and Pott 2016;Lau et al 2016;Bruckmann and Pott 2013;Bruckmann et al 2008;Verhoeven 2004). They are comparatively lightweight and in addition, their total packing volume is circa 2.25 cubic meters.…”

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confidence: 99%

Construction robotics for designed granular materials: in situ construction with designed granular materials at full architectural scale using a cable-driven parallel robot

et al. 2019

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The article presents a cable-driven parallel robot for the in situ construction with designed granular materials at full architectural scale. Granular materials are defined as high numbers of particles larger than a micrometer, between which only short-range repulsive forces are acting. Therefore, they can have the properties of both a solid and a liquid. These materials are, thus, highly pertinent as construction materials, since they are fully recyclable and reconfigurable. Going even beyond these basic properties, a designed granular material allows to tune its overall characteristics through the design of the individual particle. Granular materials can only be deployed in situ and at full scale. Suitable robotic construction systems need to be developed. Cable-driven parallel robots are defined as robotic systems, in which an "end effector" is operated by a set of cables, which are driven by computer numerically controlled motors. The cables are running through elevated pulleys. A cable-driven parallel robot, thus, allows for a "working space", which covers an entire building site. It is comparatively lightweight and, thus, transportable between different construction sites, it is rapidly deployable, since the entire setup takes one day only, and it is adaptable, since the pulleys can be installed in various geometric configurations. The results of this investigation show that cable-driven parallel robots are suitable as construction systems for the full-scale in situ construction of spatial enclosures with designed granular materials. This opens up a new field of research into the potentials of these full-scale, lightweight, rapidly deployable and adaptable robotic construction systems.

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confidence: 99%

Construction robotics for designed granular materials: in situ construction with designed granular materials at full architectural scale using a cable-driven parallel robot

et al. 2019

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“…The finite element method (FEM) and the integral method are used for the dynamic modeling of continuousmass or distributed-mass cables. The FEM is more popular because it is mature and intuitive [169][170][171][172]. Tempel et al [173] proposed a modified rigid-body FEM based on a rigid body and spring-damping elements and established a multi-body dynamics model of a planar 3-DOF CDPR.…”

Section: Dynamicsmentioning

confidence: 99%

State-of-the-art on theories and applications of cable-driven parallel robots

et al. 2022

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Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid-flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid-flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

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“…Do and Park [12] studied the effective frequency of cable in (CDPRs) using FEM, the results showed that high speed produces more effective frequencies than low speed also showed that frequency is affected with the position and tension in cables. The rigid FEM was used to simulate the (CDPRs) using damper, spring, and rigid bodies to solve the problem of cables flexural rigidity [13].…”

Section: Introductionmentioning

confidence: 99%

Assessment of Parallel Robot Dynamic Characteristics Using Experimental Modal Analysis and Finite Elements

Deabs¹,

Gomaa²,

khader³

2022

ERJ. Engineering Research Journal

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The high accuracy of industrial robots is the main aim of designers and manufacturers, one of the effective factors to get the goal is the stability of the robot structure, the determination of the structural dynamic characteristics is the main step to evaluate the performance also unlock the knowledge of amendment and improvement of the structure to get the optimum design. In this paper, two methods were applied to evaluate the dynamic structural performance of three degrees of freedom parallel robot, firstly, experimental modal analysis was applied to a multi-model with different platform dimensions using a data acquisition system, the natural frequencies, and damping ratios for all models were obtained to be evaluated and correlated with the second method. The measured models were modeled using Solidworks software and exported to Ansys finite element (FE) software, the modeled systems were used to obtain natural frequencies, damping ratios, and mode shapes from frequency response curve (FRF) and modal analysis, the results of experimental and FEM work were correlated to evaluate the system performance and verify the accuracy of the two methods. The results give a clear view to operators about the range of frequencies that must be avoided during the selection of machining operation, provide the scope of errors between the used methods, and supply a valuable guide to evaluate the quality of the structural integrity of the parallel robot.

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Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots

Cited by 6 publications

References 7 publications

Construction robotics for designed granular materials: in situ construction with designed granular materials at full architectural scale using a cable-driven parallel robot

Construction robotics for designed granular materials: in situ construction with designed granular materials at full architectural scale using a cable-driven parallel robot

State-of-the-art on theories and applications of cable-driven parallel robots

Assessment of Parallel Robot Dynamic Characteristics Using Experimental Modal Analysis and Finite Elements

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