Constrained Path Planning for Reconfiguration of Cable-Driven Parallel Robots

Wang, Xiaoyan; Zhang, Bin; Shang, Weiwei; Zhang, Fei; Cong, Shuang

doi:10.1109/tmech.2023.3234569

Cited by 4 publications

(1 citation statement)

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“…Fundamentally, various types of actuation energy are used in soft robots [49]. Positive or negative (vacuum [50]) pressurizing is the most common with pneumatic or hydraulic soft actuators [51,52]. Some methods include thermal actuation of liquid crystal elastomer (LCE) soft materials, by direct environmental heating [53], by light [54], or by electrical heaters [55].…”

Section: Technical Scope Of Soft Roboticsmentioning

confidence: 99%

Soft Medical Robots and Probes: Concise Survey of Current Advances

Sayahkarajy,

Witte

2023

Design, Construction, Maintenance

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Soft robotics has emerged as a new branch of robotics gaining huge research interest in recent decades. Owning intrinsic advantages such as compliance and safety, soft robots are closely associated with the medical requirements of medical robots. This review is written to overview advances in the medical applications of soft robots, either for readers primarily familiar with traditional medical systems, or for researchers planning to develop soft robots for medical applications. Recent publications related to soft medical robots were reviewed to represent the state’, ’of’, ’the’, ’art advances in this field. The review tends to compress the scope to trunk’, ’shaped soft robots and appraise the status of soft robots and their distance from clinical use. Several papers related to the construction and capabilities of soft robots were referenced. Roughly 190 related articles published in the current period from 2018 to the publication date (representing almost 90% of the references to the theme totally identified) were reviewed. Structure of soft robots, advances in technology, and the aptitudes in medical applications were discussed. The trunk’, ’like soft robots conspicuously are proposed for applications including robot assisted surgery where a probe is inserted into the human body. Such robots are also present in other medical robots as actuators. The literature shows that different methods are used to fabricate soft robots and employ them in different robotics tasks including positioning, grasping, and force exertion. Noticeably, such studies were done in robotics laboratories, dealing with robotics engineering problems. This review suggests that the technology is actively developing, but further focus on specific medical applications is required to fill the gap between soft robotics and its clinical use.

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Section: Technical Scope Of Soft Roboticsmentioning

confidence: 99%

Soft Medical Robots and Probes: Concise Survey of Current Advances

Sayahkarajy,

Witte

2023

Design, Construction, Maintenance

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Reconfigurable cable-driven parallel mechanism design: physical constraints and control

Khoshbin,

Otis,

Meziane

2024

Robotica

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The cable-driven parallel mechanism (CDPM) is known as an interesting application in industry to pick and place objects owing to its advantages such as large workspaces. In addition to the advantages of this mechanism, there are some challenges to improving performance by considering constraints in different components, such as the behavior of cables, shape, size of the end effector and base, and model of pulleys and actuators. Moreover, the impact of online geometry reconfiguration must be analyzed. This paper demonstrates the impact of these constraints on the performance of reconfigurable CDPM. The methodology is based on the systematic review and meta-analysis guidelines to report the results. The databases used to find the papers are extracted from Scopus and Google Scholar, using related keywords. As a result, the impact of physical constraints on system performance is discussed. A total of 90 and 37 articles are selected, respectively. After removing duplicates and unrelated papers, 88 studies that met the inclusion criteria are selected for review. Even when considering the physical constraints in modeling the mechanism, simplifications in designing a model for the reconfigurable CDPM generate errors. There is a gap in designing high-performance controllers to track desired trajectories while reconfiguring the geometry, and the satisfaction of physical constraints needs to be satisfied. In conclusion, this review presents several constraints in designing a controller to track desired trajectories and improve performance in future work. This paper presents an integrated controller architecture that includes physical constraints and predictive control.

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