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Journal articles on the topic 'Reconfigurable cable-driven parallel robots'

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Author: Grafiati

Published: 8 June 2024

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1

Vargas-Riaño, Julio, Óscar Agudelo-Varela, and Ángel Valera. "Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot." Robotics 12, no. 6 (November 14, 2023): 154. http://dx.doi.org/10.3390/robotics12060154.

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

2

Zhao, Tao, Bin Zi, Sen Qian, Zeqiang Yin, and Dan Zhang. "Typical configuration analysis of a modular reconfigurable cable-driven parallel robot." International Journal of Advanced Robotic Systems 16, no. 2 (March 1, 2019): 172988141983475. http://dx.doi.org/10.1177/1729881419834756.

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To obtain better flexibility and multifunction in varying practical applications, several typical configurations of a modular reconfigurable cable-driven parallel robot are analyzed in this article. The spatial topology of the modular reconfigurable cable-driven parallel robot can be reconfigured by manually detaching or attaching the different number of modular branches as well as changing the connection points on the end-effector to satisfy diverse task requirements. The structure design of the modular reconfigurable cable-driven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. The inverse kinematics and dynamics of the modular reconfigurable cable-driven parallel robot considering diverse configurations are derived according to the vector closed rule and Lagrange method, respectively. The numerical simulation and related experiments of a typical configuration are achieved and analyzed. The results verify the effectiveness and feasibility of the inverse kinematics and dynamics models for the modular reconfigurable cable-driven parallel robot.

3

Rodriguez-Barroso, Alejandro, Roque Saltaren, Gerardo A. Portilla, Juan S. Cely, and Marco Carpio. "Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator." Sensors 18, no. 9 (August 22, 2018): 2765. http://dx.doi.org/10.3390/s18092765.

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Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform’s internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results.

4

Dierichs, Karola, Ondřej Kyjánek, Martin Loučka, and Achim Menges. "Construction robotics for designed granular materials: in situ construction with designed granular materials at full architectural scale using a cable-driven parallel robot." Construction Robotics 3, no. 1-4 (October 25, 2019): 41–52. http://dx.doi.org/10.1007/s41693-019-00024-6.

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Abstract The article presents a cable-driven parallel robot for the in situ construction with designed granular materials at full architectural scale. Granular materials are defined as high numbers of particles larger than a micrometer, between which only short-range repulsive forces are acting. Therefore, they can have the properties of both a solid and a liquid. These materials are, thus, highly pertinent as construction materials, since they are fully recyclable and reconfigurable. Going even beyond these basic properties, a designed granular material allows to tune its overall characteristics through the design of the individual particle. Granular materials can only be deployed in situ and at full scale. Suitable robotic construction systems need to be developed. Cable-driven parallel robots are defined as robotic systems, in which an “end effector” is operated by a set of cables, which are driven by computer numerically controlled motors. The cables are running through elevated pulleys. A cable-driven parallel robot, thus, allows for a “working space”, which covers an entire building site. It is comparatively lightweight and, thus, transportable between different construction sites, it is rapidly deployable, since the entire set-up takes one day only, and it is adaptable, since the pulleys can be installed in various geometric configurations. The results of this investigation show that cable-driven parallel robots are suitable as construction systems for the full-scale in situ construction of spatial enclosures with designed granular materials. This opens up a new field of research into the potentials of these full-scale, lightweight, rapidly deployable and adaptable robotic construction systems.

5

Rodriguez-Barroso, Saltaren, Portilla, Cely, and Yakrangi. "Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis." Sensors 19, no. 15 (August 2, 2019): 3403. http://dx.doi.org/10.3390/s19153403.

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Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators’ energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software.

6

García-Vanegas, Andrés, María J. García-Bonilla, Manuel G. Forero, Fernando J. Castillo-García, and Antonio Gonzalez-Rodriguez. "AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation." Robotics 12, no. 6 (December 1, 2023): 165. http://dx.doi.org/10.3390/robotics12060165.

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In this paper, a Cable-Driven Parallel Robot developed to automate repetitive and essential tasks in crop production in greenhouse and urban garden environments is introduced. The robot has a suspended configuration with five degrees-of-freedom, composed of a fixed platform (frame) and a moving platform known as the end-effector. To generate its movements and operations, eight cables are used, which move through eight pulley systems and are controlled by four winches. In addition, the robot is equipped with a seedbed that houses potted plants. Unlike conventional suspended cable robots, this robot incorporates four moving pulley systems in the frame, which significantly increases its workspace. The development of this type of robot requires precise control of the end-effector pose, which includes both the position and orientation of the robot extremity. To achieve this control, analysis is performed in two fundamental aspects: kinematic analysis and dynamic analysis. In addition, an analysis of the effective workspace of the robot is carried out, taking into account the distribution of tensions in the cables. The aim of this analysis is to verify the increase of the working area, which is useful to cover a larger crop area. The robot has been validated through simulations, where possible trajectories that the robot could follow depending on the tasks to be performed in the crop are presented. This work supports the feasibility of using this type of robotic systems to automate specific agricultural processes, such as sowing, irrigation, and crop inspection. This contribution aims to improve crop quality, reduce the consumption of critical resources such as water and fertilizers, and establish them as technological tools in the field of modern agriculture.

7

Cheng, Hung Hon, and Darwin Lau. "Cable Attachment Optimization for Reconfigurable Cable-Driven Parallel Robots Based on Various Workspace Conditions." IEEE Transactions on Robotics 39, no. 5 (October 2023): 3759–75. http://dx.doi.org/10.1109/tro.2023.3288838.

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8

Carpio Alemán, Marco, Roque Saltaren, Alejandro Rodriguez, Gerardo Portilla, and Juan Placencia. "Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration." Robotics 8, no. 3 (July 19, 2019): 57. http://dx.doi.org/10.3390/robotics8030057.

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Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.

9

Schütz, Daniel, Annika Raatz, and Jürgen Hesselbach. "Adapted task configuration of a reconfigurable binary parallel robot with PRRRP structure." Robotica 31, no. 2 (May 24, 2012): 285–93. http://dx.doi.org/10.1017/s0263574712000240.

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SUMMARYBinary-actuated robots offer a discrete workspace with the advantage that no feedback control is needed, as their actuators have two mechanical end-positions. This contribution focuses on a planar parallel robot with a PRRRP structure and driven by rodless pneumatic cylinders. Thus, the robot's workspace only features four destination points, which can be reached quickly and with high repeatability. Because of the fact that there is no possibility to reach in discrete points, an adapted task configuration is essential. The objective of this work is to establish and validate a synthesis and calibration technique for binary parallel robots with a PRRRP structure.

10

SUDIONO, Randy Raharja, Yusuke SUGAHARA, Mitsuru ENDO, Daisuke MATSUURA, and Yukio TAKEDA. "Cable Traversing Robots on Spatially Structured Cableway for Reconfigurable Parallel Cable System." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (2019): 1A1—S02. http://dx.doi.org/10.1299/jsmermd.2019.1a1-s02.

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11

Lin, J., CS Huang, and J. Chang. "A mechatronic kit with a control methodology for a modualized cable-suspended robot." Journal of Vibration and Control 22, no. 20 (August 10, 2016): 4211–26. http://dx.doi.org/10.1177/1077546315573905.

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Cable-suspended robots are categorized as a type of parallel manipulator that has recently attracted interest in terms of manipulation tasks. The main goal of this paper is to develop a novel mechatronic kit with a control methodology for a modularized cable-suspended robot. The advantages of such system owns modular and reconfigurable over conventional robots. In addition, position and orientation of the end-effector is forced toward the desired values by control of cable lengths. Hence, the new approach for forward and inverse kinematic calculation procedure based on the change of the cable lengths is used to measure the position and orientation of the mobile platform. Furthermore, the input shaping algorithm is implemented for point-to-point control purposes. The modified input shaping uses the s curve command (S-type) to offer superior performance than conventional trapezoidal command (T-type) in point-to-point positioning control. Experimental validation demonstrates the cable oscillation suppression effectiveness of the proposed S-type input shaping control command.

12

Barbazza, L., F. Oscari, S. Minto, and G. Rosati. "Trajectory planning of a suspended cable driven parallel robot with reconfigurable end effector." Robotics and Computer-Integrated Manufacturing 48 (December 2017): 1–11. http://dx.doi.org/10.1016/j.rcim.2017.02.001.

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13

Raman, Adhiti, Ian Walker, Venkat Krovi, and Matthias Schmid. "A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot." IFAC-PapersOnLine 55, no. 37 (2022): 369–75. http://dx.doi.org/10.1016/j.ifacol.2022.11.211.

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14

Su, Yu, Jian Wei Mi, and Yuan Ying Qiu. "Interference Determination for Parallel Cable-Driven Robots." Advanced Materials Research 308-310 (August 2011): 2013–18. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2013.

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This paper develops an approach to overcome the misjudgment and omission problems of determining interference for parallel cable-driven robots, which is essential to clear interference classification in the first place. According to the clear classification, interference condition between a cable and a cable or a cable and an edge of the end-effector has been derived according to all kinds of position relations between the feet of the common perpendicular; the on a cable with a plane of the end-effector has been proved. Compared with the existing approaches, the proposed method can determine the interference region more reasonably.

15

Jomartov, Assylbek, Amandyk Tuleshov, Aziz Kamal, and Azizbek Abduraimov. "Simulation of suspended cable-driven parallel robot on SimulationX." International Journal of Advanced Robotic Systems 20, no. 2 (March 1, 2023): 172988062311614. http://dx.doi.org/10.1177/17298806231161463.

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Currently, research is being carried out on a new type of parallel robots, such as cable-driven parallel robot. The cable-driven parallel robot are parallel robots with flexible (cables), with a large workspace, with high speeds and accelerations of the end effector. In the cable-driven parallel robot, cables can only work in tension, and cable-driven parallel robot lose their performance when they are compressed. This feature severely limits the development and application of cable-driven parallel robots and requires further development of cable-driven parallel robot modeling on various software systems. Currently, Adams multibody dynamics software is widely used to create and test virtual prototypes of mechanical systems. But for cable-driven parallel robot modeling, the Adams program is quite complex and expensive to use. In this article, the simulation of the cable-driven parallel robot is carried out on the SimulationX software. Unlike other software packages, SimulationX is more accessible and cheaper and is well suited for cable-driven parallel robot simulation. Cable-driven parallel robot modeling on SimulationX allows you to identify the main design flaws even before its prototype is made. A model on the SimulationX software of a suspended cable-driven parallel robot with a point mass end effector, taking into account the elastic-dissipative properties of cables, was developed. The prototype of suspended cable-driven parallel robot with a point mass end effector was manufactured. Experimental researches of the prototype of the suspended cable-driven parallel robot with a point mass end effector confirmed the correctness of the application of the model on SimulationX for practical calculations.

16

Hadian, Hamoon, and Abbas Fattah. "Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots." International Journal of Intelligent Mechatronics and Robotics 1, no. 4 (October 2011): 61–86. http://dx.doi.org/10.4018/ijimr.2011100104.

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In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obtain their isotropic postures. These are a 6-6 cable-suspended parallel robot and a novel restricted three-degree-of-freedom cable-driven parallel robot. Eventually, the results of isotropic conditions of both cable robots are compared to show their applications.

17

Lin, Jonqlan, Chi Ying Wu, and Julian Chang. "Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803845.

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Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.

18

Lessanibahri, Saman, Philippe Cardou, and Stéphane Caro. "Parasitic Inclinations in Cable-Driven Parallel Robots using Cable Loops." Procedia CIRP 70 (2018): 296–301. http://dx.doi.org/10.1016/j.procir.2018.02.013.

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19

Xiong, Hao, Lin Zhang, and Xiumin Diao. "A learning-based control framework for cable-driven parallel robots with unknown Jacobians." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 9 (February 7, 2020): 1024–36. http://dx.doi.org/10.1177/0959651819898945.

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Cable-driven parallel robots have been studied by many researchers in the past decades. The Jacobian of a cable-driven parallel robot may not be determined in some applications such as rehabilitation. In order to control the pose of a fully constrained cable-driven parallel robot with unknown Jacobian and driven by torque-controlled actuators, a learning-based control framework consisting of a robust controller and a neural network in series is proposed in this article. The neural network takes over the role of the Jacobian by mapping a wrench applied on the end-effector of the cable-driven parallel robot at a pose in the task space to a set of cable tensions in the joint space. In this way, the cable-driven parallel robot can be controlled by cable tensions derived from such a mapping, rather than solving the inverse dynamics problem based on the Jacobian. As an example, a control strategy is developed to demonstrate how the proposed control framework works. The control strategy includes a proportional–integral–derivative controller and a feedforward neural network. Simulation results show that the control strategy can successfully control a cable-driven parallel robot with four cables, three degrees of freedom, and unknown Jacobian.

20

Vu, Mai-The, Kuo-Hsien Hsia, Fayez F. M. El-Sousy, Thaned Rojsiraphisal, Reza Rahmani, and Saleh Mobayen. "Adaptive Fuzzy Control of a Cable-Driven Parallel Robot." Mathematics 10, no. 20 (October 16, 2022): 3826. http://dx.doi.org/10.3390/math10203826.

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Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.

21

Amare, Zemichael, Bin Zi, Sen Qian, and Lei Zu. "Dynamic analysis of electrohydraulic cable-driven parallel robots." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 10 (December 10, 2018): 3400–3416. http://dx.doi.org/10.1177/0954406218815715.

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Dynamic analysis is required for achieving higher efficiency of cable-driven parallel robots. This paper presents the dynamic analysis of the cable-driven parallel robots using the Lagrange’s method, taking cable’s mass and elasticity into account. The Lagrange’s equations of motion are derived and evaluated for the generalized coordinates of the system. The dynamic motion of the parallel robot is expressed by the generalized forces and generalized coordinates to completely specify the configuration of the whole mechanical system as well as every component of the system. The cables are modeled to control and design the motion of each part of the rigid body. The elasticity is determined using the optimal cable’s tensions and lengths. Numerical simulations are performed to obtain the dynamic motion of the cable-driven parallel robots and. Experimental analyses and the effect of the mass of the end-effector on the cable’s tension and elasticity are also investigated. These examples illustrate that the general motion of the rigid body is superior described in terms of a set of independent coordinates. The results indicate that a better speed of the end-effector can be achieved by adding the linear and rotational motions of the electrohydraulic cylinder actuators into the traditional cable-driven parallel robots.

22

Rubio-Gómez, Guillermo, Sergio Juárez-Pérez, Antonio Gonzalez-Rodríguez, David Rodríguez-Rosa, Lis Corral-Gómez, Alfonso I. López-Díaz, Ismael Payo, and Fernando J. Castillo-García. "New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots." Sensors 21, no. 11 (May 21, 2021): 3604. http://dx.doi.org/10.3390/s21113604.

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Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables. These robots present a wide range of advantages, and the control algorithms required have greater complexity than those in traditional serial robots. Measuring the cable tension is an important task in this type of robot as many control algorithms rely on this information. There are several well-known approaches to measure cable tension in cable robots, where a trade-off between complexity and accuracy is observed. This work presents a new device based on strain gauges to measure cable tension specially designed to be applied in cable-driven parallel robots. This device can be easily mounted on the cable near the fixed frame, allowing the cable length and orientation to change freely, while the measure is taken before the cable passes through the guiding pulleys for improved accuracy. The results obtained from the device show a strong repeatability and linearity of the measures

23

Yuan, Han, Xianghui You, Yongqing Zhang, Wenjing Zhang, and Wenfu Xu. "A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation." Applied Sciences 9, no. 11 (May 28, 2019): 2182. http://dx.doi.org/10.3390/app9112182.

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Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human–robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than 10 − 12 mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.

24

Ida, Edoardo, Sebastien Briot, and Marco Carricato. "Natural Oscillations of Underactuated Cable-Driven Parallel Robots." IEEE Access 9 (2021): 71660–72. http://dx.doi.org/10.1109/access.2021.3071014.

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25

Carricato, Marco, and Jean-Pierre Merlet. "Stability Analysis of Underconstrained Cable-Driven Parallel Robots." IEEE Transactions on Robotics 29, no. 1 (February 2013): 288–96. http://dx.doi.org/10.1109/tro.2012.2217795.

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26

Gagliardini, L., S. Caro, M. Gouttefarde, and A. Girin. "Discrete reconfiguration planning for Cable-Driven Parallel Robots." Mechanism and Machine Theory 100 (June 2016): 313–37. http://dx.doi.org/10.1016/j.mechmachtheory.2016.02.014.

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27

Tang, Xiaoqiang. "An Overview of the Development for Cable-Driven Parallel Manipulator." Advances in Mechanical Engineering 6 (January 1, 2014): 823028. http://dx.doi.org/10.1155/2014/823028.

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In the last two decades, cable-driven parallel robots have attracted a lot of attention in robot community as a hot topic of robot research. In this paper, the development of the cable-driven parallel manipulator is first introduced in general. Second, the latest advance in theory and applications of cable-driven parallel manipulator is presented in detail, especially some notable implementations. Finally, an other probable application foresight with this cable manipulator is proposed and discussed.

28

DU, Jingli. "Tracking Control of Cable-driven Parallel Robots Considering Cable Sag Effects." Journal of Mechanical Engineering 46, no. 03 (2010): 17. http://dx.doi.org/10.3901/jme.2010.03.017.

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29

Shang, Weiwei, Bingyuan Zhang, Bin Zhang, Fei Zhang, and Shuang Cong. "Synchronization Control in the Cable Space for Cable-Driven Parallel Robots." IEEE Transactions on Industrial Electronics 66, no. 6 (June 2019): 4544–54. http://dx.doi.org/10.1109/tie.2018.2864512.

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Wei, Huiling, Yuanying Qiu, and Ying Sheng. "On the Cable Pseudo-Drag Problem of Cable-Driven Parallel Camera Robots at High Speeds." Robotica 37, no. 10 (March 4, 2019): 1695–709. http://dx.doi.org/10.1017/s0263574719000201.

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SummaryThis paper presents a control strategy for solving the cable pseudo-drag problem of cable-driven parallel camera robots at high speeds. The control strategy belongs to a hybrid position/tension control method based on cable tension optimization. The cable catenary model and cable pseudo-drag problem are considered firstly. Then, the dynamic model of the cable-driven parallel camera robot is established. The cable tension optimization is proposed. And then a control strategy is put forward and its stability is proved. Simulation results of a four-cable camera robot are presented and discussed.

31

Izard, Jean-Baptiste, Alexandre Dubor, Pierre-Elie Hervé, Edouard Cabay, David Culla, Mariola Rodriguez, and Mikel Barrado. "Large-scale 3D printing with cable-driven parallel robots." Construction Robotics 1, no. 1-4 (August 30, 2017): 69–76. http://dx.doi.org/10.1007/s41693-017-0008-0.

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32

Lahouar, Samir, Erika Ottaviano, Said Zeghoul, Lotfi Romdhane, and Marco Ceccarelli. "Collision free path-planning for cable-driven parallel robots." Robotics and Autonomous Systems 57, no. 11 (November 2009): 1083–93. http://dx.doi.org/10.1016/j.robot.2009.07.006.

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Jabbari Asl, Hamed, and Jungwon Yoon. "Robust trajectory tracking control of cable-driven parallel robots." Nonlinear Dynamics 89, no. 4 (June 27, 2017): 2769–84. http://dx.doi.org/10.1007/s11071-017-3624-9.

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Izard, Jean-Baptiste, Micael Michelin, and Cédric Baradat. "Fusion reactor handling operations with cable-driven parallel robots." Fusion Engineering and Design 98-99 (October 2015): 1505–8. http://dx.doi.org/10.1016/j.fusengdes.2015.06.009.

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Abdolshah, Saeed, and Erfan Shojaei Barjuei. "Linear quadratic optimal controller for cable-driven parallel robots." Frontiers of Mechanical Engineering 10, no. 4 (December 2015): 344–51. http://dx.doi.org/10.1007/s11465-015-0364-8.

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Ida’, Edoardo, and Marco Carricato. "Static workspace computation for underactuated cable-driven parallel robots." Mechanism and Machine Theory 193 (March 2024): 105551. http://dx.doi.org/10.1016/j.mechmachtheory.2023.105551.

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Gabaldo, Sara, Edoardo Idà, and Marco Carricato. "Pose-estimation methods for underactuated cable-driven parallel robots." Mechanism and Machine Theory 199 (September 2024): 105690. http://dx.doi.org/10.1016/j.mechmachtheory.2024.105690.

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38

Duan, Qingjuan, Quanli Zhao, and Tianle Wang. "Consistent Solution Strategy for Static Equilibrium Workspace and Trajectory Planning of Under-Constrained Cable-Driven Parallel and Planar Hybrid Robots." Machines 10, no. 10 (October 10, 2022): 920. http://dx.doi.org/10.3390/machines10100920.

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Abstract:

This paper presents a consistent solution strategy for static equilibrium workspaces of different types of under-constrained robots. Considering the constraint conditions of cable force and taking the least squares error of the static equilibrium equation as the objective, the convex optimization solution is carried out, and the static equilibrium working space of the under-constrained system is obtained. A consistent solution strategy is applied to solve the static equilibrium workspaces of the cable-driven parallel and planar hybrid robots. The dynamic models are presented and introducing parameters that are applied to make the system stable for point-to-point movements. Based on this model, the traditional polynomial-based point-to-point trajectory planning algorithm is improved by adding unconstrained parameters to the kinematic law function. The constraints of the dynamics model are incorporated into the trajectory planning process to achieve point-to-point trajectory planning for the under-constrained cable-driven robots. Finally, under-constrained cable-driven parallel robots with three cables and planar hybrid robot with two cables are taken as examples to carry out numerical simulation. The final results show that the point-to-point trajectory planning algorithm introducing parameters is effective and feasible and can provide theoretical guidance for the design of subsequent under-constrained robots.

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Tempel, Philipp, Philipp Miermeister, Armin Lechler, and Andreas Pott. "Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis." Applied Mechanics and Materials 794 (October 2015): 419–26. http://dx.doi.org/10.4028/www.scientific.net/amm.794.419.

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Abstract:

This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema3 are presented. Given the real-time capability, the presented model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.

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Liu, Peng, Yuanying Qiu, Yu Su, and Jiantao Chang. "On the Minimum Cable Tensions for the Cable-Based Parallel Robots." Journal of Applied Mathematics 2014 (2014): 1–8. http://dx.doi.org/10.1155/2014/350492.

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Abstract:

This paper investigates the minimum cable tension distributions in the workspace for cable-based parallel robots to find out more information on the stability. First, the kinematic model of a cable-based parallel robot is derived based on the wrench matrix. Then, a noniterative polynomial-based optimization algorithm with the proper optimal objective function is presented based on the convex optimization theory, in which the minimum cable tension at any pose is determined. Additionally, three performance indices are proposed to show the distributions of the minimum cable tensions in a specified region of the workspace. An important thing is that the three performance indices can be used to evaluate the stability of the cable-based parallel robots. Furthermore, a new workspace, the Specified Minimum Cable Tension Workspace (SMCTW), is introduced, within which all the minimum tensions exceed a specified value, therefore meeting the specified stability requirement. Finally, a camera robot parallel driven by four cables for aerial panoramic photographing is selected to illustrate the distributions of the minimum cable tensions in the workspace and the relationship between the three performance indices and the stability.

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Kalinin, Ya V., and E. A. Marchuk. "Specifity of Including of Structural Nonlinearity in Model of Dynamics of Cable-Driven Robot." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 10 (October 3, 2021): 547–52. http://dx.doi.org/10.17587/mau.22.547-552.

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Abstract:

The paper deals with a problem of modeling of the dynamics of a parallel cable-driven robot with the inclusion of structural nonlinearity of cables in a mathematical model. Mathematical model is implemented in a computer model with the possibility of using of symbolic calculations. Parallel cable robots as a type of robotics have been developing in the last two or three decades. The research in the theoretical field was being carried out and the mathematical model of the cable system was being refined with the spread of the practical use of cable robots. This is a non-trivial task to draw up a dynamic model of a cable-driven robot. Cable-driven robots are highly nonlinear systems, because of the main reason for the nonlinearity is the properties of the cable system. As an element of a mechanical system, the cable or the wire rope is a unilateral constraint, since the cable works only for stretching, but not for compression. Thus, the cables are structurally nonlinear elements of the system. On the other hand, cables have the property of sagging under their own weight. Thus, the cables are geometrically nonlinear elements of the system. Under the condition of a payload mass that is utterly greater than the mass of each cable, the cables can be considered strained without sagging and geometric nonlinearity can be neglected. Since symbolic computations can be used in a computer model which implements a mathematical model of the dynamics of a robot, in such a way it must provide the possibility of symbolic computations with the condition of structural nonlinearity. The main aim of this work is to develop a method that ensures the inclusion of the structural nonlinearity of the cable system in the mathematical model. It is supposed to consider the possibility of implementation of the computer model with symbolic computations. The problem of including a mathematical model of cables as unilateral constraints in the model of highly loaded cable robots is considered. The justification for including the activation functions in a system of differential equations of dynamics of cable-driven robot is formulated. A model of wire ropes as unilateral constraints is represented via including the activation functions in a system of differential equations. With using of the proposed method, numerical solution of a problem of forward dynamics has been obtained for high-loaded parallel cable-driven robot.

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Tho, Tuong Phuoc, and Nguyen Truong Thinh. "An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging." Mathematical Problems in Engineering 2022 (July 14, 2022): 1–15. http://dx.doi.org/10.1155/2022/2199748.

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Abstract:

The researching, designing, calculating, and controlling cable-driven parallel robots (CDPRs) are being promoted in recent years. The researches focus on optimizing the design of CDPRs configuration, computing workspace, calculating cable tension distribution, designing the mechanical structure, and developing controller. However, due to the complexity of the structure and unidirectional characteristic of cable, many computational methods have been applied to solve the above problems. To facilitate the performance of theoretical studies on important issues in the design and control of the CDPRs, a summary of computational methods is needed for important issues related to the functionality and accuracy of CDPRs such as defining the workspace, distributing the cable tensions, and calculating the sagging of the cable. This paper summarizes published studies on CDPRs and focuses on classifying and analyzing methods used to calculate important issues in the process of calculating and designing CDPRs. The efficiency of these calculation methods is also analyzed and evaluated based on the mathematical theories of kinematics and dynamics of CDPRs. The content of this study is an effective reference for studies on important problems in the process of designing and implementing CDPRs, helping researchers shorten the time to review related topics.

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Mattioni, Valentina, Edoardo Idà, and Marco Carricato. "Force-distribution sensitivity to cable-tension errors in overconstrained cable-driven parallel robots." Mechanism and Machine Theory 175 (September 2022): 104940. http://dx.doi.org/10.1016/j.mechmachtheory.2022.104940.

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Cheng, Hung Hon, and Darwin Lau. "Ray-based cable and obstacle interference-free workspace for cable-driven parallel robots." Mechanism and Machine Theory 172 (June 2022): 104782. http://dx.doi.org/10.1016/j.mechmachtheory.2022.104782.

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Wei, Huiling, Yuanying Qiu, Lufeng Luo, and Qinghua Lu. "An approach on stability analysis of cable-driven parallel robots considering cable mass." AIP Advances 11, no. 5 (May 1, 2021): 055014. http://dx.doi.org/10.1063/5.0047101.

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46

Duan, Q. J., and Xuechao Duan. "Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots." Advances in Mechanical Engineering 6 (January 2014): 358727. http://dx.doi.org/10.1155/2014/358727.

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Ferravante, V., E. Riva, M. Taghavi, F. Braghin, and T. Bock. "Dynamic analysis of high precision construction cable-driven parallel robots." Mechanism and Machine Theory 135 (May 2019): 54–64. http://dx.doi.org/10.1016/j.mechmachtheory.2019.01.023.

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Khosravi, Mohammad A., and Hamid D. Taghirad. "Robust PID control of fully-constrained cable driven parallel robots." Mechatronics 24, no. 2 (March 2014): 87–97. http://dx.doi.org/10.1016/j.mechatronics.2013.12.001.

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Babaghasabha, Reza, Mohammad A. Khosravi, and Hamid D. Taghirad. "Adaptive robust control of fully-constrained cable driven parallel robots." Mechatronics 25 (February 2015): 27–36. http://dx.doi.org/10.1016/j.mechatronics.2014.11.005.

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Cui, Zhiwei, Xiaoqiang Tang, Senhao Hou, and Haining Sun. "Research on Controllable Stiffness of Redundant Cable-Driven Parallel Robots." IEEE/ASME Transactions on Mechatronics 23, no. 5 (October 2018): 2390–401. http://dx.doi.org/10.1109/tmech.2018.2864307.

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