Design Optimization of a Warehousing Cable-Based Robot

Torres-Mendez, Sergio J.; Khajepour, Amir

doi:10.1115/detc2014-34672

Cited by 11 publications

(5 citation statements)

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“…The stiffness of CDPRs is relatively low, and optimization is often performed to increase the stiffness [147][148][149]. To evaluate the stiffness performance, Li and Xu [150] proposed an overall stiffness index.…”

Section: Performance Evaluation and Optimizationmentioning

confidence: 99%

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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Section: Performance Evaluation and Optimizationmentioning

confidence: 99%

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

et al. 2022

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“…CDPRs significant advantages consist of large workspace, low inertia, high speed motion and small size actuators, have made them a potential alternative to the conventional rigid-link mechanisms. Nowadays, CDPRs are used for different pick-and-place applications such as load lifting (Saber et al 2010), load positioning (Saber 2014), and warehousing tasks (Torres-Mendez & Khajepour 2014). If a CDPR with n degrees of freedom (DOF) is driven by m cables while m≤n, it is named an under-constrained CDPRS.…”

Section: Introductionmentioning

confidence: 99%

“…The studied mechanism is a simplified planar version of designed 3 dimensional (3D) CDPR in (Torres-Mendez & Khajepour 2014). The regulation control problem of this mechanism is addressed using the well-known linear techniques of pole placement control (PPC) and also linear quadratic regulation (LQR) method.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Vibration Control of a Flexible Cable Driven Parallel Robot

et al. 2015

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A cable-driven parallel robot (CDPR) possesses significant advantages over common rigid-link mechanisms including: large workspace, low inertia, small size actuators, and high speed motion. However, CDPRs have considerable restrictions consist of: holding tension in all cables, cables axial flexibility, and mechanism low rigidity resulting in mechanism undesired vibrations. In majority of previous studies related to redundant CDPRs control, the cables' flexibility is assumed negligible and redundancy problem is solved regardless of mechanism stiffness. Vibration control of a new flexible redundant kinematically-constrained CDPR with warehousing applications is studied in this research. In proposed methods, for minimization of undesired vibrations, the CDPR redundancy problem is solved based on maximizing its stiffness. Proposed controllers are designed based on linear methods of pole placement and also linear quadratic regulation (LQR) technique. Transforming the designed controllers to adaptive ones has shown performance improvements in case of moving platform mass and inertia uncertainty. Simulations results show robustness and high performance of designed controllers beside practicality of the inputs.

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“…Robot dexterity plays an important role in accomplishing complex industrial tasks coping with a variety of objects in many applications, such as aerospace, automotive, manufacturing, warehousing and distribution [1]- [4]. Industrial robots are consistent and precise, but they are currently confined to structured production lines or simple and repetitive tasks.…”

Section: Introductionmentioning

confidence: 99%

Learning Task-Oriented Dexterous Grasping from Human Knowledge

Zhang

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Industrial automation requires robot dexterity to automate many processes such as product assembling, packaging, and material handling. The existing robotic systems lack the capability to determining proper grasp strategies in the context of object affordances and task designations. In this paper, a framework of task-oriented dexterous grasping is proposed to learn grasp knowledge from human experience and to deploy the grasp strategies while adapting to grasp context. Grasp topology is defined and grasp strategies are learned from an established dataset for task-oriented dexterous manipulation. To adapt to various grasp context, a reinforcement-learning based grasping policy was implement to deploy different task-oriented strategies. The performances of the system was evaluated in a simulated grasping environment by using an AR10 anthropomorphic hand installed in a Sawyer robotic arm. The proposed framework achieved a hit rate of 100% for grasp strategies and an overall top-3 match rate of 95.6%. The success rate of grasping was 85.6% during 2700 grasping experiments for manipulation tasks given in natural-language instructions.

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Design Optimization of a Warehousing Cable-Based Robot

Cited by 11 publications

References 0 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

Adaptive Vibration Control of a Flexible Cable Driven Parallel Robot

Learning Task-Oriented Dexterous Grasping from Human Knowledge

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