Design of cable-driven parallel manipulators for a specific workspace using interval analysis

Lamine, Houssein; Bennour, Sami; Romdhane, Lotfi

doi:10.1080/01691864.2016.1142897

Cited by 21 publications

(18 citation statements)

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“…Wrench feasibility, that is, achieving the equilibrium with non-negative bounded tensions, is largely investigated while analyzing the workspace of cable robots. [4][5][6] Besides, cable interference is another issue to be addressed while determining the feasible workspace. 7 In general, such collisions include several forms: cable-cable, cable-EE, and cables or EE with external obstacles.…”

Section: Introductionmentioning

confidence: 99%

“…The developed algorithm in ref. [6] can handle all types of CDPMs and guarantees access to a singularity-free workspace. However, cable collision was ignored.…”

Section: Introductionmentioning

confidence: 99%

“…The present work extends the previous one by presenting a practical application of the algorithm implemented in ref. [6], where the cable-EE collision is taken into account while designing the CDLT machine, a device used in gait rehabilitation, 13 for a required feasible workspace. This latter includes the required workspace and external loads, which were evaluated with respect to IA requirement.…”

Section: Introductionmentioning

confidence: 99%

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Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

et al. 2019

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Summary This paper deals with a continuous design task of a planar cable robot used in a gait training machine called the cable-driven legs trainer. The design of cable robots requires satisfying two constraints, that is, tensions in the cables must remain non-negative, and cable interferences should be avoided. The carried design approach is based on interval analysis, which is one of the most efficient methods to obtain certified results. The constraints of non-negative tensions and cable to end-effector interference are solved using interval analysis tools. By means of a dynamic simulation, the reached workspace and the produced wrenches of the cable robot are evaluated as a set of interval vectors. An optimization algorithm is then designed to optimize the cable robot structure for the gait training machine. The robot is designed to produce non-negative tensions in the cables and to avoid collision at all times within the desired workspace and under the required external loads.

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Section: Introductionmentioning

confidence: 99%

“…The developed algorithm in ref. [6] can handle all types of CDPMs and guarantees access to a singularity-free workspace. However, cable collision was ignored.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

et al. 2019

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“…Studies on the geometry optimization of CDPRs started relatively recently in [12] where several concepts related to the subject were introduced: Cable collisions, the combinatorial problem of cable connections, and workspace analysis. Similarly to this work, most of the following studies on CDPR design were based on a workspace analysis [2], [6], [13]- [20]. Typically, a global performance index is optimized considering the required workspace [2], [13], [14], [16].…”

Section: Introductionmentioning

confidence: 99%

“…Alternatively, indexes which are intrinsically global may be proposed. Taking the required workspace as constraint, the space occupied by the CDPR (volume of the basis structure) is minimized in [10], [20]. Besides, Rosati et.…”

Section: Introductionmentioning

confidence: 99%

Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

Hussein

Santos

Gouttefarde

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper deals with the optimization of the geometry of a Cable-Driven Parallel Robot (CDPR) dedicated to large-scale construction applications. Since the maximum cable tension is a critical parameter in the design of the CDPR components, the geometry of the CDPR is optimized by minimizing the lowest maximum cable tension that ensures the validity of wrench-feasibility constraints. The geometric design procedure used in this paper consists of two phases, the CDPR cable connections is selected in the first phase followed by a second phase where the geometric parameters are optimized. The result of this procedure is an original fully-constrained CDPR geometry.

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