Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

Heo, Jun-Mu; Choi, SH; Park, Kyoung‐Su

doi:10.1007/s00542-016-3025-x

Cited by 16 publications

(8 citation statements)

References 27 publications

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“…The friction parameters used in the simulation are summarized in Table 2. The details of the parameter choices are discussed in a previous study 18 and in many other publications. 25,32 The friction parameters of the CDPR system may vary as the motion varies between slow and fast.…”

Section: Analysis Of Cable Tension Including Dahl Frictionmentioning

confidence: 99%

“…16,17 Although there have been some researches into the pulley bearing friction of CDPRs, there have not been any study to calculate the tension accurately using a dynamic friction model combined with kinematics. In our previous research, 18 we predicted the tension accurately using the relationship between tension and pulley bearing friction with a kinematic Coulomb model in a static equilibrium. However, the pulley bearing friction cannot be expressed simply in terms of Coulomb friction in dynamic status; in practical system, the quick transitions that occur during direction switching have non-linearity and affect the micro-displacement (i.e.…”

Section: Introductionmentioning

confidence: 99%

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Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Choi

Park

2017

Advances in Mechanical Engineering

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Recently, cable-driven parallel robots have been used in many industrial fields. Especially, cable-driven parallel robots have been used in specialized industrial fields where dynamical features such as high accuracy in systems requiring quick transitions. In this article, Dahl friction model was proposed to predict the tension during quick transitions in cable-driven parallel robots. And the Dahl friction equation for a combination of pulleys connected in series was derived. From their relationships, a modified kinematic equation was developed for redundant actuation cable-driven parallel robot systems. Because Dahl friction has non-linear characteristics, the actual tension set problem was solved using the Newton-Raphson method combined with the constrained non-linear multivariable optimal method. Finally, the tension profiles were simulated using both Dahl and Coulomb friction models with fast and slow velocities. In conclusion, according to simulation, Dahl friction model expressed dynamic characteristics such as pre-sliding in the transition range. Thus, it was in better agreement with the experiments than the Coulomb friction model. In particular, Dahl friction model was more accurate in the case of slow motion in the pre-sliding range.

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Section: Analysis Of Cable Tension Including Dahl Frictionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Choi

Park

2017

Advances in Mechanical Engineering

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“…In this section, the Newton-Euler method is adopted to deduce the dynamic model of the industrial robot, in order to analyze the reaction force and torque of the robot acting on the flexible supported teleplatform. Based on deduced kinematics, joint angles are determined with the iterative calculation of equation (8). Then, joint angular velocities and accelerations are figured out with the inverse kinematics of equations ( 10) and (12).…”

Section: Dynamic Modeling and Simulationmentioning

confidence: 99%

“…The numerical method of the reachable workspace mainly includes the finite element method and the probability algorithm. 7,8 The Monte Carlo method is the most well-known one, which applies the theory of probability and statistics to analyze the robot reachable workspace. 9 Joint rotations of an industrial robot are randomly considered and substituted into the forward kinematics to determine the terminal pose.…”

Section: Introductionmentioning

confidence: 99%

Analysis of flexible supported industrial robot on terminal accuracy

Wang

Chen

Shao

et al. 2018

International Journal of Advanced Robotic Systems

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To meet comprehensive performance requirements of large workspace, lightweight, and low energy consumption, and flexible supported industrial robots emerge, which are usually composed of a six-degrees-of-rotational-freedom (6R) industrial robot and a flexible support. Flexible support greatly expands the motion range of the attached industrial robot. Flexible supported industrial robots have been adopted in surface coating of large structures such as aircrafts and rockets. However, the rigid-flexible coupling exists in these robot systems. When the industrial robot moves, the reaction force and torque of the robot disturb the flexible support and introduce vibration, which may result in the deterioration of the system's terminal accuracy. This study focuses on both the robot body accuracy and system vibration suppression to improve the terminal accuracy of the flexible supported industrial robot. Firstly, based on kinematics analysis, accuracy of the industrial robot is investigated with the local conditioning index. Then, reaction force and torque ellipsoids are proposed with the deduced dynamic model to evaluate disturbances that the industrial robot applies to the flexible support. Considering these two aspects, the high-quality workspace of the flexible supported industrial robot is established. Numerical simulations show that reaction force and torque are effectively limited in the high-quality workspace, which greatly reduce the vibration energy and improve the terminal accuracy of the system.

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“…Based on the system motion and dynamics equations, the geometrical interference (either intersection between two cables or between a cable and the aircraft) and cable tension restraint conditions were constructed and analyzed. In [14], a workspace analysis was carried out for a wrench-feasible condition in a 6-DOF CDPR system considering the pulley bearing friction connected in series. The kinematics and dynamics of the CDPR system were derived through vector equations and D'Alembert's principle.…”

Section: Introductionmentioning

confidence: 99%

A Novel Methodology for Choosing Actuators of Cable-Suspended Parallel Robots

Filipovic

Kevac

2018

FU Aut Cont Rob

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A novel methodology for choosing actuators of a CPR system was defined. This methodology was based on a novel procedure for analysis and synthesis of the workspace of Cable-suspended parallel robot, CPR system. Besides the kinematic and dynamic models of the CPR system, this procedure includes the complete mathematical model of the actuator as well. On this basis, this procedure presents a novel solution for the analysis and synthesis of CPR system’s workspace. When using the proposed methodology for choosing actuators of a CPR system, user and designer together define the corresponding technical requirements, one of them being the relative size of the feasible work space of the CPR system. Based on these requirements, the developed methodology tests available actuators from its data base and extracts the useful ones for the predefined specific purpose. The purpose of this research is to interconnect theoretical contributions from CPR system’s modelling and needs of the user and designer during their practical implementation. For this purpose, a user friendly program package called PPACM was generated. The program package PPACM and obtained results were validated through the presentation of several case studies.

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Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

Cited by 16 publications

References 27 publications

Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Analysis of flexible supported industrial robot on terminal accuracy

A Novel Methodology for Choosing Actuators of Cable-Suspended Parallel Robots

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