Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Duan, Qingjuan; Duan, Xuechao

doi:10.1155/2014/358727

Cited by 26 publications

(23 citation statements)

References 49 publications

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“…The above-mentioned boundary together with other part forms the complete border in Figure 8, where the red solid line represents the above formulation and the blue one is the other boundary formulation satisfying equation (11). Additionally, the feasible workspace is constrained in dash box (as shown in Figure 9) formed by two intersection points of two parabolas.…”

Section: Casementioning

confidence: 99%

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Tang

2016

Advances in Mechanical Engineering

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This article proposes a deduction method of algebraic expression of static wrench-closure workspace boundary for planar 3-degree-of-freedom cable-driven parallel robots based on the antipodal theorem. Different from interval method and discretization approach, a more precise algebraic expression of workspace boundary can be obtained without undetermined region or costly computation burden to make the design process and optimization easy and feasible. In order to illustrate and study the conic characteristics of workspace boundary, a case study is conducted on a four-cable-driven 3-degree-of-freedom parallel robot. Simulation results show that the type of conic of boundary depends on the determinant of the specific deduced matrix and corresponds to which cable is collinear with the intersection line. In addition, the results also demonstrate that the boundary of workspace consists of the same type of two conics (i.e. ellipse, parabola, and hyperbola), and the region surrounded by these two quadratic curves is the smallest when the type of the border equation is parabola.

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Section: Casementioning

confidence: 99%

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Tang

2016

Advances in Mechanical Engineering

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“…Therefore, the study of the CDM workspace must consider the cable tension. There are some different workspaces which have been identified like static equilibrium workspace, wrench-closure workspace, and wrench-feasible workspace [28,29]. Analysis of these workspace generally starts from static equilibrium equations.…”

Section: Introductionmentioning

confidence: 99%

“…Analysis of these workspace generally starts from static equilibrium equations. Static equilibrium workspace and wrench-closure workspace are essentially the same, which are the set of poses where the end-effector can physically maintain equilibrium and all cables are in tension; nevertheless, wrench-feasible workspace is defined as the set of poses where cables tension remains within a prescribed range, the range is usually from the allowable minimum cable tension value to the maximum cable tension value [28][29][30][31]. In addition, many applications require the end-effector to bear certain force/moment combinations in the workspace.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, many applications require the end-effector to bear certain force/moment combinations in the workspace. Accordingly, the wrench-feasible workspace is considered as the most appropriate workspace [31], which is able to connect with the physical world, and is the most practical workspace for CDM [29]. In this paper, the mentioned workspace is wrench-feasible workspace.…”

Section: Introductionmentioning

confidence: 99%

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Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Zhang

Sun

et al. 2020

Symmetry

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This paper aims to investigate how to determine the basic parameters of the helical compression spring which supports a symmetrical cable-driven hybrid joint (CDHJ) towards the elbow joint of wheelchair-mounted robotic manipulator. The joint design of wheelchair-mounted robotic manipulator needs to consider lightweight but robust, workspace requirements, and variable stiffness elements, so we propose a CDHJ which becomes a variable stiffness joint due the spring under bending and compression provides nonlinear stiffness characteristics. Intuitively, different springs will make the workspace and stiffness of CDHJ different, so we focus on studying the spring effects on workspace and stiffness of CDHJ for its preliminary design. The key to workspace and stiffness analysis of CDHJ is the cable tension, the key to calculate the cable tension is the lateral bending and compression spring model. The spring model is based on Castigliano’s theorem to obtain the relationship between spring force and displacement. The simulation results verify the correctness of the proposed spring model, and show that the spring, with properly chosen parameters, can increase the workspace of CDHJ whose stiffness also can be adjusted to meet the specified design requirements. Then, the modelling method can be extended to other cable-driven mechanism with a flexible compression spring.

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“…The workspace is the region of the operational space such this relation is satisfied with all components τ i of τ satisfying 0 ≤ τ i ≤ T (the positiveness of τ i being imposed because cable cannot push). Several papers have addressed workspace calculation in that case [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14]. Workspace analysis for CDPR with elastic cable but without shape deformation has been less considered [15], [16].…”

Section: Introductionmentioning

confidence: 99%

Computing Cross-Sections of the Workspace of Suspended Cable-Driven Parallel Robot with Sagging Cables Having Tension Limitations

Merlet

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Although workspace is essential for the design and control of cable-driven parallel robots (CDPR) very few works have been devoted to this topic when sagging cables are considered, most probably because of the complexity of the cable model. In this paper we consider suspended CDPR with sagging cables that can support only a limited tension. We propose an algorithm to compute the border of horizontal cross-sections of the workspace for a given altitude and orientation of the platform. We show that singularities of the kinematics equations have to be taken into account for a proper determination of the border and that the workspace can be separated in several components according to the branch of the inverse kinematics on which the robot is evolving. We also compare the workspace obtained for ideal and sagging cables.

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Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Cited by 26 publications

References 49 publications

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Computing Cross-Sections of the Workspace of Suspended Cable-Driven Parallel Robot with Sagging Cables Having Tension Limitations

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