Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics

Yiğit, Cihat Bora; Boyraz, Pınar

doi:10.5194/ms-8-65-2017

Cited by 19 publications

(19 citation statements)

References 25 publications

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“…The compliances discussed in this article facilitated in the modification of existing caterpillar robot of rigid type into a reconfigurable system that resembles an "Elephant trunk". For the passive configuration, a tensegrity mechanism with universal joint and three tension springs was proposed and for the active configuration, cables are added through the springs to control the same mechanism [16]. The design and analysis of the first solution were studied in detail.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

A new inspection robot for pipelines with bends and junctions

Venkateswaran

Chablat

2019

Advances in Mechanism and Machine Science

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The application of robots for the inspection of pipelines are of greater significance in industries such as nuclear, chemical and sewage. The major problem in the design of these robots lies in the selection of a suitable locomotion principle, selection of an articulation unit that facilitates the robot to pass through pipe bends and management of cables. In this context, the design of a new bio-inspired piping inspection robot that resembles an elephant trunk has been presented. With the help of leg mechanisms and actuators, a caterpillar locomotion is used within this trunk for establishing adaptive contact points with the walls of pipeline. For the passage through bends and junctions, several case studies of existing researches have been taken into account for the design of an articulation unit. Two solutions, (i) a passive tensegrity structure and (ii) an active tensegrity structure have been proposed for the robot to pass through pipe bends and junctions. A detailed design analysis of the passive solution that uses a universal joint has been presented in this article.

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Section: Conclusion and Discussionmentioning

confidence: 99%

A new inspection robot for pipelines with bends and junctions

Venkateswaran

Chablat

2019

Advances in Mechanism and Machine Science

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“…The tensegrity system resembles the robot analyzed by Yigit et al [6] but in the proposed design three tensions springs are used over a single compression spring of [6]. The flanges used for spring mounting is carried over from the existing prototype.…”

Section: Tension Springs Of Length 'L' 3 Holes For Springs and Cables Cmentioning

confidence: 99%

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Venkateswaran

Furet

Chablat

et al. 2019

Volume 5A: 43rd Mechanisms and Robotics Conference

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Piping inspection robots are of greater interests in industries such as nuclear, chemical and sewage. The design of such robots is highly challenging owing to factors such as locomotion inside pipes with varying diameters, cable management, and complex pipe bends (or) junctions. A rigid bio-inspired caterpillar type piping inspection robot was developed at LS2N, France. By introducing tensegrity mechanisms and four-bar wheel mechanisms, the design of this robot is modified into a reconfigurable system. The tensegrity mechanism employs a passive universal joint with three tension springs and three cables for actuation. The positioning of the end effector with respect to the base of the mechanism plays an important role in determining the maximum tilt angle (or) bending limit of the system. By workspace analysis of three case studies, the best solution is chosen which generates the maximum tilt. A static force analysis is then performed on the mechanism to determine its stability under the influences of preload. By the modification of design parameters, stable configurations are determined followed by which cable actuation of mechanism is analyzed for estimating applied forces.

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“…During the whole CDM movement, the spring stiffness did not change. In [5,36,47,48], they proposed a CDM with a linear compression spring spine which presents the nonlinear stiffness characteristics under bending and compression, but they did not analyze the impact of adding springs on the workspace and stiffness of CDM in detail. Gao et al [47], Zhang et al [5], and Zhang et al [36] treated the helical spring as a spatially curved bar.…”

Section: Introductionmentioning

confidence: 99%

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Zhang

Sun

et al. 2020

Symmetry

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This paper aims to investigate how to determine the basic parameters of the helical compression spring which supports a symmetrical cable-driven hybrid joint (CDHJ) towards the elbow joint of wheelchair-mounted robotic manipulator. The joint design of wheelchair-mounted robotic manipulator needs to consider lightweight but robust, workspace requirements, and variable stiffness elements, so we propose a CDHJ which becomes a variable stiffness joint due the spring under bending and compression provides nonlinear stiffness characteristics. Intuitively, different springs will make the workspace and stiffness of CDHJ different, so we focus on studying the spring effects on workspace and stiffness of CDHJ for its preliminary design. The key to workspace and stiffness analysis of CDHJ is the cable tension, the key to calculate the cable tension is the lateral bending and compression spring model. The spring model is based on Castigliano’s theorem to obtain the relationship between spring force and displacement. The simulation results verify the correctness of the proposed spring model, and show that the spring, with properly chosen parameters, can increase the workspace of CDHJ whose stiffness also can be adjusted to meet the specified design requirements. Then, the modelling method can be extended to other cable-driven mechanism with a flexible compression spring.

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Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics

Cited by 19 publications

References 25 publications

A new inspection robot for pipelines with bends and junctions

A new inspection robot for pipelines with bends and junctions

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

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