Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Pigani, Lorenzo; Gallina, Paolo

doi:10.1016/j.rcim.2013.10.006

Cited by 16 publications

(8 citation statements)

References 13 publications

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“…Analysis of references [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18] clearly shows that the dynamics of transportation of the cross-beam by two overhead cranes is not fully addressed in available works [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]. This confirms the actuality, relevance, and industrial significance ( Figure 1) of the present research.…”

Section: Background and Introductionsupporting

confidence: 75%

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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Section: Background and Introductionsupporting

confidence: 75%

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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“…Furthermore, the maximum speed of the system depends on the size of the cables and their tensions, as well as its acceleration is limited by the cables stability, since they support traction but no compression. Such problems have been addressed in other cable robots, where gravity forces are involved [44].…”

Section: Discussionmentioning

confidence: 99%

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera

Gallina

Seriani³

et al. 2018

IEEE Trans. Robot.

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In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.

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“…where m pc is the mass of the rod l pc . The total system potential energy P ¼ 0, after it is brought into the Lagrange equation (10), the generalized energy is…”

Section: Multibody Dynamics Equationsmentioning

confidence: 99%

“…[7][8][9] Many scholars design the direct-drive robot actuator and control algorithms. [10][11][12][13] We adopt the electromagnetic linear motor as the drive device of the direct-drive vehicle robot driver in this article.…”

Section: Introductionmentioning

confidence: 99%

Multibody dynamics modeling of electromagnetic direct-drive vehicle robot driver

Chen

Zhang

2017

International Journal of Advanced Robotic Systems

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Collaborative dynamics modeling of flexible multibody and rigid multibody for an electromagnetic direct-drive vehicle robot driver is proposed in the article. First, spatial dynamic equations of the direct-drive vehicle robot driver are obtained based on multibody system dynamics. Then, the shift manipulator dynamics model and the mechanical leg dynamics model are established on the basis of the multibody dynamics equations. After establishing a rigid multibody dynamics model and conducting finite element mesh and finite element discrete processing, a flexible multibody dynamics modeling of the electromagnetic direct-drive vehicle robot driver is established. The comparison of the simulation results between rigid and flexible multibody is performed. Simulation and experimental results show the effectiveness of the presented model of the electromagnetic direct-drive vehicle robot driver.

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Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cited by 16 publications

References 13 publications

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

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

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Multibody dynamics modeling of electromagnetic direct-drive vehicle robot driver

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