Workspace analysis and design of large-scale cable-driven printing robot considering cable mass and mobile platform orientation

Chawla, Ishan; Pathak, Pushparaj Mani; Notash, Leila; Samantaray, Arun Kumar; Li, Qingguo; Sharma, Umesh Kumar

doi:10.1016/j.mechmachtheory.2021.104426

Cited by 13 publications

(7 citation statements)

References 8 publications

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“…[12]. They can be used as motion simulators [13], large-scale telescope orientation [14], large-scale camera systems [15], and construction [16], to name just a few examples even with applications to industrial scenarios as reported in [17][18][19]. CDPRs have been successfully implemented also in medical applications such as for assisting post-stroke or paraplegia patients such as reported for example in refs.…”

Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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This paper presents a novel cable-driven parallel robot with the aim of rehabilitating/exercising young and disabled children in drawing and writing tasks. The pyramidal topology was identified as providing the required three active translational Degrees of Freedom with a redundant set of five cables in a compact portable shape. In addition, this robot was designed with new features, as it is inexpensive, easy to control, easy to move to any place at home or school as it is fitting a home desk or classroom table. In this paper, we present the main steps for designing the proposed cable-driven pyramidal parallel robot. Specific attention is addressed to the design of the structure and the end effector as well as to establishing proper simulation models. Several simulations are proposed by implementing both kinematic and dynamic models to demonstrate the feasibility of multiple writing/drawing tasks. A specific user interface is proposed allowing both continuous and intermittent trajectories. A sliding mode control is implemented to achieve suitable tracking accuracy on a desired path. Finally, an experimental validation is successfully carried out by considering multiple trajectories for demonstrating the engineering feasibility and effectiveness of the proposed design and simulation models.

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Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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“…The pose of the end-effector is controlled by adjusting the cable length between the anchor point of the end-effector and the pulley. CDPRs are promising for various industrial applications, such as pick and place tasks, works over a large workspace, and manipulations of heavy payload [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

A collaborative path planning method for mobile cable-driven parallel robots in a constrained environment with considering kinematic stability

Kim

Park

2022

Complex Intell. Syst.

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Mobile cable-driven parallel robot (MCDPR) is a variant of cable-driven parallel robots (CDPRs) by mounting several mobile bases to replace the conventional fixed frame. The novel modification of adding mobile bases leads MCDPRs being highly flexible and have great potential for complex environments. However, the issue of coupled mobile bases introduces actuated kinematic redundancies which present challenges for path planning. In this paper, we propose a collaborative path planning method for MCDPRs, and it allows the robot to deal with complex internal and external constraints in a high-dimensional state space efficiently. The proposed method quickly generates feasible paths for coupled mobile bases using the adaptive goal-biased rapidly exploring random tree (RRT) method, in which the adaptive sampling method is developed to enhance efficiency. Based on the feasible path of the mobile base, we proposed a grid-based search method to determine the position of the end-effector with considering the stability and kinematic performances. Furthermore, the planned paths are post-processed with the cubic splines to obtain continuous profiles for the robot. Finally, the proposed method is validated through the dynamic simulation software (CoppeliaSim) and experiments based on a MCDPR prototype with an eight-cable-driven parallel robot mounted on four mobile bases.

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“…Additive foam manufacturing: BatiPrint3D, Yhnova's house 3D Printing with an AGV and a serial robot without interruption in the printing process that would be related to the concatenation of the different workspaces of a mobile robot, the use of CDPRs for additive manufacturing in a short term is conceivable [7][10] [11] [12]. CD-PRs are a potentially suitable replacement for very largescale applications [8] [13]. They easily achieve a large workspace without requiring massive equipment and machinery [14,15].…”

Section: Introductionmentioning

confidence: 99%

Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot

Paquet¹,

Métillon²,

Subrin³

et al. 2022

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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In this paper, a framework for foam printing with a Cable-Driven Parallel Robot (CDPR) is described for building large parts. Compared with the traditional robotic systems, CD-PRs have a large workspace that can include the printing area. In addition, the potential reconfigurability of CDPRs is an asset to get rid of the collisions between the cables and the environment during the execution of the printing task. The printing feasibility is verified through the process identification where key parameters are used in the proposed control law. The features to be taken into account through a framework to make a successful printing with a CDPR are described. Finally, advantages and drawbacks of CDPRs for additive manufacturing are discussed and future work is presented.

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Workspace analysis and design of large-scale cable-driven printing robot considering cable mass and mobile platform orientation

Cited by 13 publications

References 8 publications

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

A collaborative path planning method for mobile cable-driven parallel robots in a constrained environment with considering kinematic stability

Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot

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