Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis

Abstract

Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators’ energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software.

Simulation of suspended cable-driven parallel robot on SimulationX

“…This model is well designed and shows all the steps of its compilation on MSC ADAMS, but it is not suitable for CDPR simulation. In the work of Rodriguez-Barroso et al, 25 the CDPR was simulated using the MSC ADAMS multibody dynamic software. This model takes into account the masses of the cables, the friction forces and the elasticity of the cables, but it does not show the stages of the simulation the winches and servomotors of the CDPR.…”

Cable-driven Parallel Robot to Simulate the Underwater Environment in Humanoids

“…8.3, the total elastic energy stored in the springs shows that it depends on the tension configuration given by the nullspace and the spring stiffness. The energy shape respect the nullspace independent variables ( 1 and 2 ) defined in (3) corresponds to an elliptic paraboloid centered in [0, 0], as demonstrated in (Rodriguez- Barroso et al, 2019). The objective is to have a wide energy range along the feasible tension distribution region (Ω ).…”

“…According to chapter 4 and (Rodriguez- Barroso et al, 2019), a redundantly constrained parallel mechanism with deformable links with as stiffness value has a total elastic energy defined by: With:…”