Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables

Youssef, Khaled; Otis, Martin J.‐D.

doi:10.1016/j.mechmachtheory.2020.103781

Cited by 29 publications

(15 citation statements)

References 47 publications

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“…In this project, the movement in vertical direction is limited for each attachment points. Kinematic constraints for moving in X and Y directions have been restricted as follows [29]:…”

Section: Kinematics Constraintsmentioning

confidence: 99%

“…The first group of driving constraints, due to the vertical motion of the eight attachment points on the rails, is presented in (3) as suggested in ref. [29]:…”

Section: Driving Constraintsmentioning

confidence: 99%

“…[18,19], in this paper, the cables are assumed massless, and straight-line segments without sagging due to small size of suggested CDPM and the attachment points are simplified to ideal points [21] like many papers such as refs. [60][61][62].…”

Section: Limitation Of the Studymentioning

confidence: 99%

“…Youssef and Otis [29] introduced an algorithm to prevent the collision between cables, whereas the trajectory of the end effector is unchanged. An algorithm is used to detect the contact between the two cables and which cables are in a higher position.…”

Section: Introductionmentioning

confidence: 99%

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Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

et al. 2022

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Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of the most challenging problems for cable-driven parallel mechanisms (CDPMs) that are considered in this research. One of the essential primary issues in CDPM is collision avoidance among cables and humans in the shared workspace. This paper presents a model and simulation of a reconfigurable, fully constrained CDPM enabling detection and avoidance of cable–human collision. In this method, unlike conventional CDPMs where the attachment points are fixed, the attachment points on the rails can be moved (up and down on their rails), and then the geometric configuration is adapted. Karush–Kuhn–Tucker method is proposed, which focuses on estimating the shortest distance among moving obstacles (human limbs) and all cables. When cable and limbs are close to colliding, the new idea of reconfiguration is presented by moving the cable’s attachment point on the rail to increase the distance between the cables and human limbs while they are both moving. Also, the trajectory of the end effector remains unchanged. Some simulation results of reconfiguration theory as a new approach are shown for the eight-cable-driven parallel manipulator, including the workspace boundary variation. The proposed method could find a collision-free predefined path, according to the simulation results.

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“…In this project, the movement in vertical direction is limited for each attachment points. Kinematic constraints for moving in X and Y directions have been restricted as follows [29]:…”

Section: Kinematics Constraintsmentioning

confidence: 99%

“…The first group of driving constraints, due to the vertical motion of the eight attachment points on the rails, is presented in (3) as suggested in ref. [29]:…”

Section: Driving Constraintsmentioning

confidence: 99%

Section: Limitation Of the Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

et al. 2022

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“…A cable-based parallel robot is a special class of parallel robot in which the rigid links are replaced by the flexible cables. 3 The main advantage of the cable-based parallel robots are their light weight, unrestricted length of the drive cable, flexibility, large workspace, and small inertia over their rigid-link counterparts. 4 Consequently, the cablebased parallel robot is exceptionally well suited in many industrial applications, such as wind tunnel experiments, 5 medical rehabilitation, 6 astronomical observation, 7 aerial panoramic photographing, 8 and 3D printing.…”

Section: Introductionmentioning

confidence: 99%

Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis

Liu

Qiao

Zhang

2021

International Journal of Advanced Robotic Systems

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This article aims to establish the relationship between the position and cable tension influencing factors and the stability, and propose a method for quantitative stability sensitivity assessment for a cable-based coal–gangue picking robot. Firstly, a structural stability measure approach is proposed for the cable-based coal–gangue picking robot. Secondly, a stability sensitivity analysis model is developed to investigate the stability sensitivity on the selected influencing factors based on the grey relational degree, where the influencing degree of each factor on the stability for the cable-based coal–gangue picking robot is explored with grey relational analysis. At last, a numerical study is carried out to demonstrate the stability measure approach and stability sensitivity analysis model for the cable-based coal–gangue picking robot was scientific and reasonable, where the end-grab position set which the robot can meet the predetermined stability requirements is obtained. And meanwhile, the correlation of each influencing factor on the stability for the robot is calculated. And the stability sensitivity simulation results show that (1) the correlation of the seven influencing factors on the stability are, in a descending order, cable tension T 2 > cable tension T 4 > cable tension T 3 > cable tension T 1 > z-direction displacement of the end-grab > x-direction displacement > y-direction displacement; (2) among the influencing factors, the cable tensions have greater influence on the stability of coal–gangue picking robot, and it is followed by the z-direction displacement of the end-grab, while y-direction displacement is found to have the minimal influence. This article provides a guiding direction for robust design of the sorting trajectory planning and control of the coal–gangue picking robots.

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Kinetostatic Analysis of a Novel Planar Cable-Driven Robot with a Single Cable Loop

Juárez-Pérez,

Martín-Parra,

Moya Fernández

et al. 2024

Lecture Notes in Civil Engineering

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Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables

Cited by 29 publications

References 47 publications

Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis

Kinetostatic Analysis of a Novel Planar Cable-Driven Robot with a Single Cable Loop

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