Multi Objective Optimization of a Cable-Driven Robot with Parallelogram Links

Khodadadi, Nasrollah; Hosseini, Mohammad Isaac; Khalilpour, S. A.; Taghirad, Hamid D.; Cardou, Philippe

doi:10.1007/978-3-030-75789-2_14

Cited by 5 publications

(6 citation statements)

References 14 publications

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“…Also, using a transmission system in a 3-DoF CDPR with six cables and four actuators allows for a fairly large WCW that extends over 360 • range of possible rotations of the moving-platform. Other researchers had proposed CDPRs with fewer actuators than cables in the past [9,7,8]. What sets this work apart from theirs is the design method that was followed.…”

Section: Discussionmentioning

confidence: 99%

“…In Fig. 2(b), the WCW of a similar CDPR proposed in [8] is shown, which could not cover some parts of the rectangular shape workspace. Using Maple2018, we obtained symbolic expressions of the workspace through the four inequalities t ⊥ = ∂ ∂z1 det(A) > 0 4 .…”

Section: Determination Of the Transmission System T Of A 2-dof Cdprmentioning

confidence: 99%

“…The use of pulleys and additional cables to reduce the number of actuators in CDPRs has been previously explored in the literature [5][6][7][8]. The concept of using cable differentials in the design of spatial and planar CDPRs is presented in [6,7].…”

Section: Introductionmentioning

confidence: 99%

“…In [8], a configuration for planar CDPRs that utilizes parallelogram links instead of conventional links is presented. The use of parallelogram links ensures that the cables remain in tension during the robot's movements, thereby enhancing its dexterity and elastic stiffness, as well as the magnitude of its stiffness indices.…”

Section: Introductionmentioning

confidence: 99%

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Transmission Systems to Extend the Workspace of Planar Cable-Driven Parallel Robots

Behroozi

Cardou

Caro

2023

Mechanisms and Machine Science

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In cable-driven parallel robots (CDPRs), each cable is typically driven by one actuator, and one is led to think that the number of actuators necessarily depends on the number of cables. In this paper, we consider that the number of cables depends on the required workspace while the number of actuators depends on the number of degrees of freedom of the robot. When designing a CDPR, one typically starts from the shape of the desired workspace to determine the required number of cables. Thence, he or she adds as many actuators, assuming that each of them drives one cable. Here, the number of actuators is supposed to be equal to one more than the number of degrees of freedom of the CDPR irrespective of the number of cables. A transmission system is designed for the actuators to drive several cables, first theoretically in the form of a transmission matrix, and then mechanically in the form of the corresponding cable-pulley routing. Two examples are proposed with two and three degrees of freedom respectively; both aim at covering a rectangular workspace. The wrench-closure-workspaces of the resulting robots compare favorably to existing CDPRs with more actuators.

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Section: Discussionmentioning

confidence: 99%

Section: Determination Of the Transmission System T Of A 2-dof Cdprmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Transmission Systems to Extend the Workspace of Planar Cable-Driven Parallel Robots

Behroozi

Cardou

Caro

2023

Mechanisms and Machine Science

Self Cite

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“…As a result, the position of the attachment points of the moving pulleys follows an elliptical trajectory. A V-shaped configuration (i.e., a V-type configuration) was employed to construct a planar cable-driven robot with a parallelogram arrangement [13]. Based on the geometrical feature of an elliptical trajectory, the proposed cable-driven parallel mechanism is capable of realizing large rotation near the workspace boundary accordingly.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Spatial Cable-Driven Mechanism and Its Equivalent Hybrid Mechanism for Elliptical Trajectory

Wang

et al. 2023

Machines

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In this paper, a spatial cable-driven parallel mechanism in a V-shaped cable arrangement is proposed. It is further simplified as a planar hybrid cable-driven parallel mechanism to analyze its kinematics, which consists of two identical active cable chains and a passive cross-slide mechanism. In order to investigate the degrees of freedom (DoFs) of the hybrid mechanism using screw theory, cable chains are represented as rotational–prismatic–rotational (RPR) chains. The motion pairs of all the chains are denoted according to screw theory. Firstly, the number and the types of DoFs of each chain are determined. Then, the number and the types of DoFs for the hybrid mechanism are calculated. Furthermore, the theoretical result is verified using the modified Grübler–Kutzbach (G-K) formula. It shows that the unique DoF of the equivalent mechanism is a rotation with a continuously changing axis, which is consistent with the V-type cable-driven mechanism with elliptical trajectories. Finally, the kinematics analysis of the cross-slider mechanism driven by two cables is carried out. The length, velocity and acceleration of the cables are obtained from numerical calculation in MATLAB, and the results are demonstrated using ADAMS simulation.

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