Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot

Gouttefarde, Marc; Collard, Jean-François; Riehl, Nicolas; Baradat, Cédric

doi:10.1109/tro.2015.2400253

Cited by 102 publications

(80 citation statements)

References 35 publications

(47 reference statements)

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“…Considering the spatial changes of kinematics, the global kinematic performance index f1(l) was introduced to the robot workspace W [24,25]:…”

Section: Multi-objective Optimizationmentioning

confidence: 99%

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Deng¹,

Liu²,

Zhang³

2019

JESA

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This paper proposes a novel 3T2R labelling robot with hybrid mechanism for the end-faces of round steels. The hybrid mechanism consists of a three degrees-of-freedom (DOFs) translation (3T) parallel mechanism and a two DOFs rotation (2R) mechanism. Based on the Jacobian matrix of the hybrid mechanism, the author analyzed the influence of each dimension parameter on three performance indices, namely, kinematics, transmission and stiffness of the mechanism, under the constraints of the workspace. Based on the Pareto frontier approach, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) was adopted to find the optimal values of the three performance indices, and identify the dimension parameters that bring the best overall performance of the whole mechanism. The research results shed new light on the design of light weight labelling robot. Journal homepage: http://iieta.org/journals/jesa P Q q J J J J J J J J J −   ==    J J J . (7) 0 0 c 0 J J J l l J J J l s J J J l max -1 min = J K   = J JJ J

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“…Considering the spatial changes of kinematics, the global kinematic performance index f1(l) was introduced to the robot workspace W [24,25]:…”

Section: Multi-objective Optimizationmentioning

confidence: 99%

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Deng¹,

Liu²,

Zhang³

2019

JESA

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“…The number m of cables has a major influence on performance of the RCDPR. Using more cables than DOFs can enlarge the workspace of suspended CDPRs [11] or yields fully constrained CDPRs where internal forces can reduce vibrations, e.g. [18].…”

Section: Reconfigurable Elements and Technological Solutionsmentioning

confidence: 99%

“…In the suspended architecture, gravity plays the role of an additional cable pulling the moving platform downward, thereby keeping the cables under tension. The suspended architecture considered in this work is inspired by the CoGiRo CDPR prototype [11,19]. For the non-suspended configuration, note that eight cables is the smallest possible even number of cables that can be used for the platform to be fully constrained by the cables.…”

Section: Constraint Functions and Configuration Analysismentioning

confidence: 99%

“…A suspended redundantly actuated eight-cable CDPR architecture has been attributed to the configuration C 2 in order to avoid collisions between the cables and the tubular structure. The selected configuration is based on CoGiRo, a suspended CDPR designed and built in the framework of the ANR CoGiRo project [11,19]. An advantage of this configuration is a large workspace to footprint ratio.…”

Section: Configuration Cmentioning

confidence: 99%

“…Other possible applications include the broadcasting of sporting events, haptic devices [8,10,31], support structures for giant telescopes [35,34], and search and rescue deployable platforms [23,24]. Recent studies have been performed within the framework of an ANR Project CoGiRo [2] where an efficient cable layout has been proposed [11] and used on a large CDPR prototype called CoGiRo.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of Reconfigurable Cable-Driven Parallel Robots

Gagliardini

Gouttefarde

Caro

2018

Intelligent Systems, Control and Automation: Science and Engineering

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This chapter is dedicated to the design of Reconfigurable Cable-Driven Parallel Robots (RCDPRs) where the locations of the cable exit points on the base frame can be selected from a finite set of possible values. A task-based design strategy for discrete RCDPRs is formulated. By taking into account the working environment, the designer divides the prescribed workspace or trajectory into parts. Each part shall be covered by one configuration of the RCDPR. Placing the cable exit points on a grid of possible locations, numerous CDPR configurations can be generated. All the possible configurations are analysed with respect to a set of constraints in order to determine the parts of the prescribed workspace or trajectory that can be covered. The considered constraints account for cable interferences, cable collisions, and wrench feasibility. The configurations satisfying the constraints are then compared in order to find the combinations of configurations that accomplish the required task while optimising one or several objective function(s). A case study comprising the design of a RCDPR for sandblasting and painting of a three-dimensional tubular structure is finally presented. Cable exit points are reconfigured, switching from one side of the tubular structure to another, until three external sides of the structure are covered. The optimisation includes the minimisation of the number of cable attachment/detachment operations required to switch from one configuration to another one, minimisation of the size of the RCDPR, and the maximisation of the RCDPR stiffness.

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Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation

Reichenbach

Tempel

Verl

et al. 2019

Mechanisms and Machine Science

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This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of cable-driven parallel robots (CDPRs), which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by computing preload parameters with an extended nullspace formulation of the kinematics. The method facilitates the operator's ability to specify a defined preload within the operation space. The algorithms are implemented in a real-time environment, allowing for the use of optimization in hybrid position-force control. To validate the effectiveness of this approach, a simulation study is performed, and the obtained results are compared to existing methods. Furthermore, the method is investigated experimentally and compared with the conventional position-controlled operation of a cable robot. The results demonstrate the feasibility of adaptively adjusting cable preloads during platform motion and manipulation of additional objects.

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Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot

Cited by 102 publications

References 35 publications

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Design of Reconfigurable Cable-Driven Parallel Robots

Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation

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