Design and Validation of a Novel Pyramidal Cable-Driven Robot

Khadem, Mohammed; Inel, Fouad; Carbone, Giuseppe

doi:10.1007/978-3-031-10776-4_24

Cited by 1 publication

(2 citation statements)

References 11 publications

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“…Figure 2(c) describes a cable-driven parallel robot with eight cables [30] to provide eight Dofs. Figure 2(d) describes a cable-driven pyramid parallel robot that relies on five motors for controlling the position of the end effector with five Dofs [31]. It is worth mentioning that cables cannot exert negative tensions since they can only pull and not push.…”

Section: The Proposed Design Proceduresmentioning

confidence: 99%

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A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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This paper presents a novel cable-driven parallel robot with the aim of rehabilitating/exercising young and disabled children in drawing and writing tasks. The pyramidal topology was identified as providing the required three active translational Degrees of Freedom with a redundant set of five cables in a compact portable shape. In addition, this robot was designed with new features, as it is inexpensive, easy to control, easy to move to any place at home or school as it is fitting a home desk or classroom table. In this paper, we present the main steps for designing the proposed cable-driven pyramidal parallel robot. Specific attention is addressed to the design of the structure and the end effector as well as to establishing proper simulation models. Several simulations are proposed by implementing both kinematic and dynamic models to demonstrate the feasibility of multiple writing/drawing tasks. A specific user interface is proposed allowing both continuous and intermittent trajectories. A sliding mode control is implemented to achieve suitable tracking accuracy on a desired path. Finally, an experimental validation is successfully carried out by considering multiple trajectories for demonstrating the engineering feasibility and effectiveness of the proposed design and simulation models.

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Section: The Proposed Design Proceduresmentioning

confidence: 99%

“…The geometric model of the robot with three Dofs along the ( X , Y , and X ) axes is defined in this section. Considering what we discussed in [31], the robot has no rotational motions. This is also due to the selected cable attachments for the end effector (see Fig.…”

Section: The Proposed Design Solutionmentioning

confidence: 99%