Motion Planning for a Cable-Driven Lower Limb Rehabilitation Robot with Movable Distal Anchor Points

Li, Jinghang; Wang, Keyi; Wang, Yanzhuo; Wang, Chao

doi:10.1007/s42235-023-00349-7

Cited by 3 publications

(2 citation statements)

References 28 publications

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“…An effective solution is to reconfigure the distal anchor points of the robot. This solution results in a fully-constrained configuration, which can be more easily controlled compared to over-constrained schemes [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation

García-Vanegas,

García-Bonilla,

Forero

et al. 2023

Robotics

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In this paper, a Cable-Driven Parallel Robot developed to automate repetitive and essential tasks in crop production in greenhouse and urban garden environments is introduced. The robot has a suspended configuration with five degrees-of-freedom, composed of a fixed platform (frame) and a moving platform known as the end-effector. To generate its movements and operations, eight cables are used, which move through eight pulley systems and are controlled by four winches. In addition, the robot is equipped with a seedbed that houses potted plants. Unlike conventional suspended cable robots, this robot incorporates four moving pulley systems in the frame, which significantly increases its workspace. The development of this type of robot requires precise control of the end-effector pose, which includes both the position and orientation of the robot extremity. To achieve this control, analysis is performed in two fundamental aspects: kinematic analysis and dynamic analysis. In addition, an analysis of the effective workspace of the robot is carried out, taking into account the distribution of tensions in the cables. The aim of this analysis is to verify the increase of the working area, which is useful to cover a larger crop area. The robot has been validated through simulations, where possible trajectories that the robot could follow depending on the tasks to be performed in the crop are presented. This work supports the feasibility of using this type of robotic systems to automate specific agricultural processes, such as sowing, irrigation, and crop inspection. This contribution aims to improve crop quality, reduce the consumption of critical resources such as water and fertilizers, and establish them as technological tools in the field of modern agriculture.

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Section: Introductionmentioning

confidence: 99%

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation

García-Vanegas,

García-Bonilla,

Forero

et al. 2023

Robotics

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show abstract

“…All these solutions have the drawback of adding more actuators to the design, whereas previous works such as [18,19] prove that there is no need to integrate active elements into the design. Instead, it was shown that adding passive elements, such as moving carriages, to the design immensely increases the WFW of the robot [19,20]. Taking into account the kinematic and static model analysis presented in [19], it is remarkable how the mechanical modification of adding passive carriages to the design increases the robot's WFW.…”

mentioning

confidence: 99%

Dynamic Model of a Novel Planar Cable Driven Parallel Robot with a Single Cable Loop

et al. 2023

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Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation of the mobile platform or end effector. The use of cables instead of rigid links offers some advantages over their conventional rigid counterparts. As cables can only pull but not push, the number of cables (n) required to command the end-effector is always n+1. This configuration is known as fully-constrained, and it is the most extended configuration for CDPRs. Although CDPRs have many advantages, such as their ability to cover large working areas, one of their main problems is that their working area (workspace) is limited in comparison to its frame area (planar case) or frame volume (spatial case), due to the minimum and maximum allowed tensions. Depending on these tension values, the workspace can notoriously decrease. In order to tackle this problem, lots of works focus on solving kinematics or dynamics problems for cable sagging, i.e., they take into account sagging when modelling the robot kinematic and include these poses inside the usable robot workspace. Taking into account phenomena such as this increases the mathematical complexity of the problem, and much more complex techniques are required. On the other hand, the lack of workspace problem can be tackled by adding active or passive elements to the robot design. In this sense, this paper proposes two mechanical modifications: to add passive carriages to the robot frame and to use a single cable loop to command the end-effector position and orientation. This work presents the kinematic, static, and dynamic models of the novel design and shows the gain of workspace for a planar case while taking into account different parameters of the robot.

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Construction and kinematic performance analysis of a suspension support for wind tunnel tests of spinning projectiles based on wire-driven parallel robot with kinematic redundancy

ZHU,

SHI,

et al. 2024

Chinese Journal of Aeronautics

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Motion Planning for a Cable-Driven Lower Limb Rehabilitation Robot with Movable Distal Anchor Points

Cited by 3 publications

References 28 publications

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation

Dynamic Model of a Novel Planar Cable Driven Parallel Robot with a Single Cable Loop

Construction and kinematic performance analysis of a suspension support for wind tunnel tests of spinning projectiles based on wire-driven parallel robot with kinematic redundancy

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