Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer

Pott, Andreas; Tempel, Philipp; Verl, Alexander; Wulle, Frederik

doi:10.1007/978-3-030-20751-9_32

Cited by 7 publications

(7 citation statements)

References 13 publications

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“…Alikhani et al [64] designed a large-space translational CDPR with parallel cables. Zi et al [33] and Qian et al [34] designed translational 3D CDPR printers (Fig. 5(b)).…”

Section: Configuration Designmentioning

confidence: 99%

“…5(a)). Zi et al [33] and Qian et al [34] designed a desktop 3D printer with parallel cable chains and achieved a 3-DOF translational motion (Fig. 5(b)).…”

Section: Introductionmentioning

confidence: 99%

“…CDPRs for 3D printing: (a) foam printer, reprinted with permission from Ref [32]. from Elsevier; (b) 3D printer with parallelcable structure, reprinted with permission from Ref [34]. from MDPI; (c) CaRo printer, reprinted with permission from Ref [35].…”

mentioning

confidence: 99%

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State-of-the-art on theories and applications of cable-driven parallel robots

et al. 2022

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Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid-flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid-flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

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“…Alikhani et al [64] designed a large-space translational CDPR with parallel cables. Zi et al [33] and Qian et al [34] designed translational 3D CDPR printers (Fig. 5(b)).…”

Section: Configuration Designmentioning

confidence: 99%

“…5(a)). Zi et al [33] and Qian et al [34] designed a desktop 3D printer with parallel cable chains and achieved a 3-DOF translational motion (Fig. 5(b)).…”

Section: Introductionmentioning

confidence: 99%

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State-of-the-art on theories and applications of cable-driven parallel robots

et al. 2022

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“…The peculiarity of this robot is the arrangements of the cables around the MP. Indeed, the six cables of the proposed Cable-Driven Schönflies Motion Generator (CDSMG) are arranged in such a way that three parallelograms cable structures are formed to constrain the rotational motions of the MP [11][12][13][14][15]. One of the six cables is wound on two drums at its two ends, making one cable loop used to actuate the rotational motion of the pulley embedded in the MP.…”

Section: Introductionmentioning

confidence: 99%

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Sciarra

Rasheed

Mattioni

et al. 2022

Volume 7: 46th Mechanisms and Robotics Conference (MR)

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Cable-Driven Parallel Robots (CDPRs) use cables to move a moving-platform in space offering different advantages, such as high payload, reconfigurability, large translational workspace and high dynamic performances. However, their orientational workspace is usually limited due to cable/cable and cable/moving-platform collisions. In this paper, a novel Schönflies-Motion Generator (SMG) with a large translational workspace and a full rotation of its end-effector about a vertical axis is introduced. The full rotation of the end-effector is obtained using a parallelogram cable loop. It should be noted that the four degrees of freedom motion of the end-effector is controlled by four actuators fixed to the ground thanks to three parallelogram cable loops and a transmission system containing a differential mechanism. The kinetostatic model of the CDPR under design is expressed. The static workspace of the proposed Cable-Driven SMG (CDSMG) with three different cable arrangements is analyzed. Finally, a prototype of the CDSMG is presented and preliminary experimental results are discussed.

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“…Once designed and manufactured, an experimental evaluation allows one to determine the prototype accuracy and repeatability performances. In [15] the long-term running of a CDPR printer was analyzed. After a week of continuous running the joint lag was measured exhibiting the cable creep.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running

Métillon

Pedemonte

Caro

2021

Mechanisms and Machine Science

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The performance evaluation of Cable-Driven Parallel Robots in terms of accuracy, repeatability and long term capacities is a key for their industrial deployment. This paper presents and analyses corresponding experimental results for the PACE prototype, a fully-constrained, redundantly restrained, eight cables and six degrees of freedom cabledriven parallel robot. First, a long-term running test is carried out to evaluate the deviation of the moving-platform pose along time of use. A second experiment consists into a full design of experiments to evaluate the effect of some factors specific to this type of robot on its absolute accuracy and repeatability. Experimental results are presented and discussed.

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Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer

Cited by 7 publications

References 13 publications

State-of-the-art on theories and applications of cable-driven parallel robots

State-of-the-art on theories and applications of cable-driven parallel robots

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running

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