Development of a Seven Degrees-of-Freedom Crane with Three Wires (2nd Report)

Osumi, Hisashi; Arai, Tamio; Fujihira, Masanobu; Yamaguchi, H.; Asama, Hajime; Kaetsu, Hayato; Urai, T.

doi:10.2493/jjspe.59.2061

Cited by 6 publications

(1 citation statement)

References 4 publications

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“…5 There are several cable robots that the major research is based on. [6][7][8] The most similar cable robot to the one designed by Iran University of Science and Technology (IUST) is the 6-cable robot with a triangular end-effector, which has three translational and three rotational movements. 9 The idea of joint space control of such manipulators using proportional integrator derivative (PID) controller by the aid of pulse width modulation (PWM), which is also employed in this paper is proposed in ref.…”

Section: Introductionmentioning

confidence: 99%

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

et al. 2013

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2013). Experimental results for the exible joint cable-suspended manipulator of ICaSbot. Robotica, 31, pp 887-904 SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an underconstrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

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Section: Introductionmentioning

confidence: 99%

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

et al. 2013

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Development and application of wire‐actuated haptic interfaces

Melchiorri

Vassura

2001

J. Robotic Syst.

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Haptic devices are being used in ever more applications, ranging from training to education, entertainment, design, space experiments, and so on. In this paper, alternative solutions are presented for the mechanical design of such devices, different from the classical ones based on “rigid” kinematic chains. These solutions adopt actuated wires, and present some features that can be very useful in particular applications. Due to their mechanical construction, these devices offer some peculiar control problems, which must be properly addressed for their use. These aspects (and other possible applications) are discussed, and an example of such a device for visually impaired persons is illustrated. © 2001 John Wiley & Sons, Inc.

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Manipulability measures for multi-wire driven parallel mechanisms

Shen¹,

Osumi²,

Arai³

Proceedings of 1994 IEEE International Conference on Industrial Technology - ICIT '94

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A b s t r a c t : The manipulability measures for Multiwire driven parallel mechanisms are discussed. For kinematics of a wire driven mechanism, we need not only the geometrical constraints of wire lengths but also the force constraints, such as the wire tension which should be always greater than or equal to zero. First, the sufficient and necessary mechanical conditions corresponding to the force constraints are shown. Under these conditions, we can obtain the manipulability of a wire driven mechanism using almost the same methods as for a popular multi-link manipulator. Second, a more practical evaluation index "set of manipulating forces" is introduced and. the way of calculation of this index is explained. We also derive both manipulability indexes as for wire suspended mechanisms in the gravity field by modeling the gravitational force as a wire having the tension of that gravity. Numerical examples are given to explain the proposed indexes and to show their validity.The method is expected to be effective in designing and task planning of wire driven systems including wire suspended mechanisms.

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Development of a Seven Degrees-of-Freedom Crane with Three Wires (2nd Report)

Cited by 6 publications

References 4 publications

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

Development and application of wire‐actuated haptic interfaces

Manipulability measures for multi-wire driven parallel mechanisms

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