Winch-integrated mobile end-effector for a cable-driven parallel robot with auto-installation

Wang, Deri; Ahn, Jeongdo; Jung, Jin‐Woo; Seon, Jeong-An; Park, Jong-Oh; Ko, Seong Young; Park, Sukho

doi:10.1007/s12555-016-0398-7

Cited by 15 publications

(2 citation statements)

References 10 publications

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“…In most cases, cables are driven by actuators that are placed on a fixed base. Sometimes, if deployability is a requirement, they can be attached to mobile vehicles [24] or placed on the mobile platform [29]. A guidance system is used to convey cables from the actuators to the mobile platform.…”

Section: Design Strategiesmentioning

confidence: 99%

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

2021

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Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure and transmission system consist of light and extendable cables that can withstand high tensile loads. Cables are wound and unwound by a set of motorized winches, so that the robot workspace dimensions mainly depend on the amount of cable that each drum can store. For this reason, these manipulators are attractive for many industrial tasks to be performed on a large scale, such as handling, pick-and-place, and manufacturing, without a substantial increase in costs and mechanical complexity with respect to a small-scale application. This paper presents the design of a planar overconstrained cable-driven parallel robot for quasi-static non-contact operations on planar vertical surfaces, such as laser engraving, inspection and thermal treatment. The overall mechanical structure of the robot is shown, by focusing on the actuation and guidance systems. A novel concept of the cable guidance system is outlined, which allows for a simple kinematic model to control the manipulator. As an application example, a laser diode is mounted onto the end-effector of a prototype to perform laser engraving on a paper sheet. Observations on the experiments are reported and discussed.

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Section: Design Strategiesmentioning

confidence: 99%

Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

2021

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“…A mobile-type robot has also been developed that minimizes the installation work on the exterior wall of the building; here, the winch is installed within the robot. The cable-driven parallel robot and the cleaning robot from Wall Robotics can ascend/descend using a winch inside the robot with cables connected to the roof of a building [6], [7]. However, if there is a climbing winch inside the robot, the weight of the steel cable is added to the payload, which has the disadvantage of consuming large amounts of power.…”

Section: Introductionmentioning

confidence: 99%

Highly Repeatable Rope Winch Design With Multiple Windings and Differential Gear Mechanism

et al. 2020

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This paper presents a rope winch with high position repeatability using a differential gear mechanism. This winch is easy to apply to existing buildings using synthetic fiber ropes, which are generally used by building exterior maintenance workers, and can be widely utilized as a winch of a gondola or climbing robot. Multiple pulleys are used to achieve high payloads, and differential gear mechanisms are used to distribute the torque across each pulley evenly. Uniform torque distribution minimizes slipping on each pulley, which reduces the power loss due to friction. This is proven through an analysis using the capstan equation and an experiment on a test bench. In addition, a criterion for the position repeatability of the winch is designed, and its results show that one pressure roller achieves optimal performance when the roller at the free end is pressed to 37 N. Extensive experiments were carried out on the final model of the winch, and position repeatability of under 50 mm deviation per 10 m was achieved through stable torque distribution under various payloads. INDEX TERMS Rope winch, differential gear mechanism, position repeatability, capstan equation, rope tension modeling.

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