Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

Alemán, Marco Alexander Carpio; Saltarén, Roque; Rodriguez-Barroso, Alejandro; Portilla, Gerardo; Placencia, Juan Diego

doi:10.3390/robotics8030057

Cited by 7 publications

(2 citation statements)

References 27 publications

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“…This aspect of the design is shown in details F and G of Figure 9a for the case of the anchor points of the upper cables, and in details L and M of Figure 9b for the case of the lower cables. In this way, the upper cables are mainly responsible for the proper positioning of the EE, while the lower cables fulfill the function of keeping the EE without rotation, improving its stability [24].…”

Section: Structure Of the Disinfection Systemmentioning

confidence: 99%

A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

et al. 2021

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Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. Considering that one of the ways to reduce the risk of contagion is by avoiding contact and closeness between people when exchanging supplies such as food, medicine, clothing, etc., this work proposes the use of a planar cable-driven parallel robot for the transport of supplies in hospitals whose room distribution has planar architecture. The robot acts in accordance with a procedure proposed for each task to be carried out, which includes the process of disinfection (based on Ultraviolet-C light) of the supplies transported inside the robot’s end effector. The study presents a design proposal for the geometry of the planar cable-driven parallel robots and its end effector, as well as the software simulations that allow evaluating the robot’s movement trajectories and the responses of the position control system based on Fuzzy-PID controllers.

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Section: Structure Of the Disinfection Systemmentioning

confidence: 99%

A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

et al. 2021

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“…In addition, other researches relate the reconfiguration method with workspace, stiffness or/and power consumption [17,18]. Workspace and trajectory planning of RCDPR are studied in [19,20], respectively. The above researches mainly focus on anchor point reconfiguration before the robot operation.…”

Section: Introductionmentioning

confidence: 99%

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

Wang

et al. 2023

J Bionic Eng

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This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points (M-CDLR). The traditional cable-driven parallel robots (CDPRs) control the moving platform by changing the length of cables, M-CDLR can also adjust the position of the distal anchor point when the moving platform moves. The M-CDLR this article proposed has gait and single-leg training modes, which correspond to the plane and space motion of the moving platform, respectively. After introducing the system structure configuration, the generalized kinematics and dynamics of M-CDLR are established. The fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more cables. Therefore, a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer cables. Then the expected trajectory of the moving platform is obtained from the motion capture experiment, and the motion planning of M-CDLR under two training modes is simulated. The simulation results verify the effectiveness of the proposed motion planning method. This study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.

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Evaluation of Two Tension Sensors for Cable‐Driven Parallel Manipulators

Gonzalez‐Rodriguez,

Ottaviano,

Rea

2024

Journal of Field Robotics

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Cable‐driven parallel manipulators (CDPMs) constitute a class of parallel robots in which the frame is connected to the end‐effector through a set of cables. The weight reduction achieved by replacing rigid links with cables, along with their exceptionally large workspace, makes CDPMs suitable for applications such as positioning devices, large surface inspection, motion support systems, and automated storage systems. For effective use in these applications, accurate positioning capabilities are essential, which in turn require accurate measurements of the tension on each cable, and at a sampling rate that is less than or equal to the time constant of the actuator response. This paper first analyses the dynamics of the actuator for an over‐constrained robot and provides concrete values of this constant considering the cable elasticity. Then, it proposes two tension sensors, presents the calibration procedures, and the methodologies to evaluate them in CDPMs so that they can be replicated and subsequently included in another CDPM configuration. They also serve as critical safety devices, continuously monitoring cable tension to detect any operations or situations that are out of range. Ensuring the safe and reliable condition of cables is crucial not only for CDPMs but also for lifting systems, transmission systems, and other mechanical or mechatronic systems that rely on cables.

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Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

Cited by 7 publications

References 27 publications

A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

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

Evaluation of Two Tension Sensors for Cable‐Driven Parallel Manipulators

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