Tension distribution shaping via reconfigurable attachment in planar mobile cable robots

Zhou, Xiaobo; Jun, Seung-kook; Krovi, Venkat

doi:10.1017/s0263574713001008

Cited by 15 publications

(5 citation statements)

References 20 publications

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“…Recently in several papers, reconfigurable or adaptive CDPRs have been investigated. 12–17 The idea of configuration adaptability is presented to formalize a new methodology for design of CDPRs. 13 According to this method an optimum design solution to maximize or minimize particular local performance criteria such as cable tension factor and dexterity of CDPRs is achieved based on separating cable disposition and pose of end-effector.…”

Section: Introductionmentioning

confidence: 99%

“…Although the robot utilizes few number of cables, it achieves acceptable force capabilities since it benefits semiadaptive design of the CDPR in which one of the pulleys is allowed to move. In Zhou et al., 15 an outline to study reconfigurable CDPRs is presented. The proposed method investigates improvement of tension distribution by solving reconfiguration of such systems according to a tension factor over the workspace.…”

Section: Introductionmentioning

confidence: 99%

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Optimal wrench-closure configuration of spatial reconfigurable cable-driven parallel robots

Abbasnejad

Masouleh

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a method for computing the optimal actuation of reconfigurable cable-driven parallel robots is presented. By using this method, the imperfect ability in exerting torque and limited orientation workspace of these robots may be improved. In a cable-driven parallel robot with reconfigurability, the attachment points of cables on the base are adjusted with regard to the movement of the end-effector on a trajectory. In such a design the redundant degree-of-freedom of the robot is increased accordingly. For an arbitrary pose of the end-effector, a spherical zone is defined in which the called wrench-closure condition is satisfied for a prescribed range of orientation. Taking the volume of such zone into consideration the optimal configuration of the robot may be determined. This configuration is found by appropriately changing the position of the moving attachment points on the base of the robot. By repeating this computation for a number of points on a specified trajectory, appropriate actuation plans are achieved. The computed optimal actuation guarantees balance of any external wrench by tension force of cables when the end-effector moves close to its trajectory. For a case of spatial reconfigurable cable-driven parallel robot, the optimal actuation is found based on Particle Swarm Optimization and performance of the robot is compared to the one with fixed cable attachment points on base. The result shows significant improvement of the performance of reconfigurable spatial cable-driven parallel robot.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal wrench-closure configuration of spatial reconfigurable cable-driven parallel robots

Abbasnejad

Masouleh

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…In 2012, Zhou et al [23] suggested to increase the number of Degrees of Freedom (DOFs) of CDPRs by mounting the winches on mobile bases, which results in a type of RCDPRs. In [24,25], Zhou used an alternative concept for RCDPRs. A set of cables with constant lengths are connected to linear motors.…”

Section: Introductionmentioning

confidence: 99%

“…A set of cables with constant lengths are connected to linear motors. The cables are either attached to the platform [25] or pull the platform by means of idler pulleys [24]. In both cases, a planar case study has been investigated to show the concept advantages.…”

Section: Introductionmentioning

confidence: 99%

Discrete reconfiguration planning for Cable-Driven Parallel Robots

Gagliardini

Caro

Gouttefarde

et al. 2016

Mechanism and Machine Theory

136

122

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International audienceCable-Driven Parallel Robots (CDPRs) are a class of parallel robots whose legs consist of cables. In most previous studies, the positions of the cable connection points on the moving platform and on the base frame are fixed, these positions being determined during the CDPR design. However, such fixed-configuration CDPRs are not always suitable and some situations require reconfiguration capabilities, e.g. a cluttered environment where cable collisions with objects in the CDPR workspace cannot be completely avoided without reconfigurations. This paper deals with Reconfigurable Cable-Driven Parallel Robots (RCDPRs) whose cable connection points on the base frame can be positioned at a possibly large but discrete set of possible locations. Means to select and optimize the sequence of discrete reconfigurations allowing the RCDPR moving platform to follow a prescribed path are introduced. A so-called feasibility map is first generated. For each possible configuration of the RCDPR, this map stores the feasible or unfeasible character of each point of the discretized prescribed path, according to user-defined constraints which ensure a proper functioning of the RCDPR. The feasibility map is next analyzed in order to determine minimum sets of configurations which allow the RCDPR to follow the whole prescribed path. Finally, the corresponding discrete reconfiguration planning problem is represented as a graph whose nodes correspond to feasible RCDPR reconfigurations. The arcs of the graph are weighted by a user-defined cost function so that the graph can be searched for an optimal reconfiguration strategy using Dijkstras algorithm

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“…Izard et al [16] also studied a family of RCDPRs for industrial applications. Rosati et al [32,36] and Zhou et al [38,39] focused their work on planar RCDPRs. Recently, Nguyen et al [27,26] proposed reconfiguration strategies for large-dimension suspended CDPRs mounted on overhead bridge cranes.…”

Section: Introductionmentioning

confidence: 99%

Design of Reconfigurable Cable-Driven Parallel Robots

Gagliardini

Gouttefarde

Caro

2018

Intelligent Systems, Control and Automation: Science and Engineering

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This chapter is dedicated to the design of Reconfigurable Cable-Driven Parallel Robots (RCDPRs) where the locations of the cable exit points on the base frame can be selected from a finite set of possible values. A task-based design strategy for discrete RCDPRs is formulated. By taking into account the working environment, the designer divides the prescribed workspace or trajectory into parts. Each part shall be covered by one configuration of the RCDPR. Placing the cable exit points on a grid of possible locations, numerous CDPR configurations can be generated. All the possible configurations are analysed with respect to a set of constraints in order to determine the parts of the prescribed workspace or trajectory that can be covered. The considered constraints account for cable interferences, cable collisions, and wrench feasibility. The configurations satisfying the constraints are then compared in order to find the combinations of configurations that accomplish the required task while optimising one or several objective function(s). A case study comprising the design of a RCDPR for sandblasting and painting of a three-dimensional tubular structure is finally presented. Cable exit points are reconfigured, switching from one side of the tubular structure to another, until three external sides of the structure are covered. The optimisation includes the minimisation of the number of cable attachment/detachment operations required to switch from one configuration to another one, minimisation of the size of the RCDPR, and the maximisation of the RCDPR stiffness.

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Tension distribution shaping via reconfigurable attachment in planar mobile cable robots

Cited by 15 publications

References 20 publications

Optimal wrench-closure configuration of spatial reconfigurable cable-driven parallel robots

Optimal wrench-closure configuration of spatial reconfigurable cable-driven parallel robots

Discrete reconfiguration planning for Cable-Driven Parallel Robots

Design of Reconfigurable Cable-Driven Parallel Robots

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