Design and implementation of a cable-driven parallel robot for additive manufacturing applications

Gueners, Damien; Chanal, Hélène; Bouzgarrou, Belhassen-Chedli

doi:10.1016/j.mechatronics.2022.102874

Cited by 17 publications

(4 citation statements)

References 67 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…CDPRs find application across various fields, including construction for tasks like assembly and material handling. Their capability to cover extensive workspaces with minimal structural support proves advantageous in scenarios where traditional robotic systems face impracticality or space constraints [180] . 6.…”

Section: Classification Of Different Robot Types In Constructionmentioning

confidence: 99%

Roles of Robotics in Architectural and Engineering Construction Industries: Review and Future Trends

Al Masri,

Barzellay F. da Costa,

Vasco

et al. 2024

Jounarl of Building Design and Environment

View full text Add to dashboard Cite

Over the past two decades, the field of Robotics in Construction has evolved into an interdisciplinary research domain that combines a multitude of pressing technologies. This work introduces an innovative review framework that assesses the interconnection between robotics in construction and automation, while also examining advancements in technologies. In this research, a novel classification framework was created and a comprehensive literature review was performed to shed light on recent developments in the field of robotic construction. The objectives are to delineate the diverse dimensions of robotics in construction, uncover the underlying themes and sub-themes within these dimensions, identify key research gaps in the current studies, and provide recommendations for future research endeavors. This paper concluded that the existing research focus primarily on technical aspects in robotics within construction, neglecting environmental considerations, while identifying a lack of long-term studies on structural performance, hindering concerns about durability. Additionally, challenges persist in integrating robotics into construction workflows without disruption, compounded by the absence of standardized practices and regulations, alongside concerns about safe humanrobot interaction, affordability, and accessibility. Furthermore, inadequate training programs for workers and ethical concerns regarding job displacement, privacy, and societal impacts underscore the need for careful examination in the responsible and ethical deployment of robotics technologies. Finally, research efforts should emphasize the development of user-friendly interfaces and ergonomic designs for construction robots to Journal of Building Design and Environment enhance their usability and acceptance among workers, ultimately contributing to the successful integration of robotics into construction practices.

show abstract

Section: Classification Of Different Robot Types In Constructionmentioning

confidence: 99%

Roles of Robotics in Architectural and Engineering Construction Industries: Review and Future Trends

Al Masri,

Barzellay F. da Costa,

Vasco

et al. 2024

Jounarl of Building Design and Environment

View full text Add to dashboard Cite

show abstract

“…This solution results in a scheme with too many constraints, which requires additional actuators to control all the cables. Others propose using variable radius pulleys [11,12]. This increases the effective radius of the pulleys when high torque is required to reach some regions of the workspace.…”

Section: Introductionmentioning

confidence: 99%

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation

García-Vanegas,

García-Bonilla,

Forero

et al. 2023

Robotics

View full text Add to dashboard Cite

In this paper, a Cable-Driven Parallel Robot developed to automate repetitive and essential tasks in crop production in greenhouse and urban garden environments is introduced. The robot has a suspended configuration with five degrees-of-freedom, composed of a fixed platform (frame) and a moving platform known as the end-effector. To generate its movements and operations, eight cables are used, which move through eight pulley systems and are controlled by four winches. In addition, the robot is equipped with a seedbed that houses potted plants. Unlike conventional suspended cable robots, this robot incorporates four moving pulley systems in the frame, which significantly increases its workspace. The development of this type of robot requires precise control of the end-effector pose, which includes both the position and orientation of the robot extremity. To achieve this control, analysis is performed in two fundamental aspects: kinematic analysis and dynamic analysis. In addition, an analysis of the effective workspace of the robot is carried out, taking into account the distribution of tensions in the cables. The aim of this analysis is to verify the increase of the working area, which is useful to cover a larger crop area. The robot has been validated through simulations, where possible trajectories that the robot could follow depending on the tasks to be performed in the crop are presented. This work supports the feasibility of using this type of robotic systems to automate specific agricultural processes, such as sowing, irrigation, and crop inspection. This contribution aims to improve crop quality, reduce the consumption of critical resources such as water and fertilizers, and establish them as technological tools in the field of modern agriculture.

show abstract

“…The winch can provide from millimetres up to several metres of cable, not only enabling large workspaces, but also assuring rather limited inertia, if compared to the rigid links' counterparts, and high velocities at the end-effector. CDPRs also provide the possibility of implementing deployable and reconfigurable topologies, which may expand the application of robotics in new environments, e.g., search and rescue operations [2,3], motion aiding systems [4,5], large buildings' maintenance and construction [2], entertainment [6], manufacturing or heavy handling [7], and service [8], but also considering classical high-speed pick and place manipulators in [9,10]. Applications related to the large working volume are the NIST Robocrane [11] and the five-hundred-metre Aperture Spherical Telescope (FAST), as reported in [12].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Control of a Novel Planar Cable-Driven Parallel Robot with a Large Wrench Feasible Workspace

et al. 2022

View full text Add to dashboard Cite

Cable-Driven Parallel Robots (CDPRs) are special manipulators where rigid links are replaced with cables. The use of cables offers several advantages over the conventional rigid manipulators, one of the most interesting being their ability to cover large workspaces since cables are easily winded. However, this workspace coverage has its limitations due to the maximum permissible cable tensions, i.e., tension limitations cause a decrease in the Wrench Feasible Workspace (WFW) of these robots. To solve this issue, a novel design based in the addition of passive carriages to the robot frame of three degrees-of-freedom (3DOF) fully-constrained CDPRs is used. The novelty of the design allows reducing the variation in the cable directions and forces increasing the robot WFW; nevertheless, it presents a low stiffness along the x direction. This paper presents the dynamic model of the novel proposal together with a new dynamic control technique, which rejects the vibrations caused by the stiffness loss while ensuring an accurate trajectory tracking. The simulation results show that the controlled system presents a larger WFW than the conventional scheme of the CDPR, maintaining a good performance in the trajectory tracking of the end-effector. The novel proposal presented here can be applied in multiple planar applications.

show abstract

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

Cited by 17 publications

References 67 publications

Roles of Robotics in Architectural and Engineering Construction Industries: Review and Future Trends

Roles of Robotics in Architectural and Engineering Construction Industries: Review and Future Trends

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation

Dynamic Control of a Novel Planar Cable-Driven Parallel Robot with a Large Wrench Feasible Workspace

Contact Info

Product

Resources

About