Tesis sobre el tema "Reconfigurable cable-driven parallel robots"
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Kumar, Atal Anil. "Conception et commande d'un robot à câbles pour la manipulation dextre de pièces sur des chaînes de production". Electronic Thesis or Diss., Université de Lorraine, 2020. http://www.theses.fr/2020LORR0269.
Texto completoThis thesis aims to design and control an underactuated Cable-Driven Parallel Robot (CDPR) with four cables for the agile handling of parts in a manufacturing line. For already installed manufacturing lines, most of the available working space is often used, and adding a new serial robot on the workshop ground is sometimes difficult. Using the ceiling to fix heavy machines is not always possible, and it could be necessary to reinforce the structure. CDPR is a way to achieve the work with a light structure, with low modification of the existing workshop. The novelty of the work lies in the fact that the majority of the existing designs place the actuating motors and the winches on the base platform, whereas in this work, the actuating motors are placed on the moving platform, making it convenient for the CDPR to be fixed in the manufacturing line with simple anchor points. First, the workspace of the CDPR for the desired environment is investigated. The underactuated nature of the robot and the positive cable tension constraint imposed due to the flexibility of the cable limit the workspace investigation to static equilibrium conditions. The classical static equilibrium equations have been used to calculate the robot workspace and the corresponding behavior of the plat- form orientation angles have been presented. Several case studies have been shown with different payloads attached to the moving platform. The dimensions of the moving platform and the base structure have also been changed to understand the possible region of the workspace where the robot performance can be satisfactory. The prototype dimensions have been fixed taking into account the workspace performance. Following this, the classical dynamic model developed in the field of CDPR has been used to implement the control law on the CDPR. The second part of the thesis presents the design and implementation of the control laws for the CDPR. The classical Input-Output Feedback Linearization (IOFL) technique is developed and simulation results have been presented. The role of internal dynamics present in the system because of the underactuation is demonstrated using their phase-plane plots. Two possible solutions have been suggested to reduce the effect of internal dynamics on the system. The first solution is to use appropriate dimensions for the platform and the base structure. Simulation results have been presented to show the behavior of the platform when the dimensions are changed. A Modified Feedback Linearization (MFL) has been proposed as an ad-hoc solution for eliminating the effects of the internal dynamics. The simulation results obtained show that the proposed ad-hoc solution performs efficiently and significantly better than the classical IOFL technique for certain dimensions of the CDPR. The use of this approach for different cases of CDPR needs to be investigated. Experimental results validating the IOFL technique are presented to demonstrate the satisfactory behavior of the CDPR with the control law developed during the thesis. The overall objective of the project is to develop a CDPR that can work with an operator in a fully functional manufacturing line and aid the worker in lifting heavy or hot objects. This thesis achieves the first step in making a functional prototype of a CDPR which will be improved further to make it collaborative
Rasheed, Tahir. "Collaborative Mobile Cable-Driven Parallel Robots". Thesis, Ecole centrale de Nantes, 2019. http://www.theses.fr/2019ECDN0055.
Texto completoThis thesis presents a novel concept of Mobile Cable - Driven Parallel Robots (MCDPRs) as a new robotic system. MCDPR is composed of a classical C able - D riven P a rallel R obot (CDPR) mounted on multiple mobile bases. MCDPRs combines the autonomy of mobile robots with the advantages of CDPRs, namely, large workspace, high payload - to - weight ratio, low end - effector inertia, deployability and reconfigurability. Moreover , MCDPRs presents a new technical innovation that could help to bring more flexibility and versatility with respect to existing industrial robotic solutions. Two MCDPRs prototypes named FASTKIT and MoPICK have been developed during the course of this the sis. FASTKIT is composed of two mobile bases carrying a six degrees - of - freedom moving - platform, pulled by eight cables , with a goal to provide a low cost and versatile robotic solution for logistics. MoPICK is composed of a three degrees - of - freedom movi ng - platform pulled by four cables mounted on four mobile bases. The targeted applications of MoPICK are mobile tasks in a constrained environment, for example, a workshop or logistic operations in a warehouse. The contributions of this thesis are as follow s. Firstly, all the necessary conditions are studied that required to achieve the static equilibrium of a MCDPR . These conditions are used to develop a Tension Distribution Algorithm for the real time control of the MCDRP cables. The equilibrium conditions are also used to investigate the Wrench - Feasible - Workspace of MCDPRs. Afterwards, the kinematic performance and twist capabilities of the MCDPRs are investigated. Finally, the last part of the thesis presents multiple path planning strategies for MCDPRs i n order to reconfigure the CDPR’s geometric architecture for performing the desired task
Ida, Edoardo <1991>. "Dynamics of undeactuated cable-driven parallel robots". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amsdottorato.unibo.it/9574/1/Ida_edoardo_tesi.pdf.
Texto completoBaklouti, Sana. "Vibration Analysis and Reduction of Cable-Driven Parallel Robots". Thesis, Rennes, INSA, 2018. http://www.theses.fr/2018ISAR0034/document.
Texto completoThis thesis aims at improving the static positioning and trajectory tracking accuracy of Cable- Driven Parallel Robots (CDPRs) while considering their overall elasticity. Accordingly, two complementary control strategies that are valid for any CDPR configuration are proposed.First, a robustness analysis is performed to lead to a robust model-based control of CDPRs. As a result, an appropriate CDPR model is defined as a function of the targeted application and the main sources of CDPR moving-platforms pose errors are identified.A first control method is determined based on the results of the robustness analysis. This first method lies in the coupling of a model-based feed-forward control scheme for CDPR with a PID feedback controller.Here, an elasto-dynamic model of the CDPR is expressed to compensate the oscillatory motions of its moving-platform due to cable elongations and its dynamic behavior.The second control method uses input-shaping filters into the proposed model-based feed-forward control in order to cancel the oscillatory motions the movingplatform. Thus, the input signal is modified for the CDPR to self-cancel residual vibrations.Experimental validations are performed while using suspended and non-redundant CDPR prototype. The proposed feed-forward model-based control schemes are implemented, and their effectiveness is discussed.Results show the relevance of the proposed control strategies in terms of trajectory tracking accuracy improvement and vibration reduction
Abbasnejad, Matikolaei Ghasem <1984>. "Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6627/1/Abbasnejad_Ghasem_tesi.pdf.
Texto completoAbbasnejad, Matikolaei Ghasem <1984>. "Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6627/.
Texto completoAbdolshah, Saeed. "Trajectory planning and control of cable-driven parallel robots". Doctoral thesis, Università degli studi di Padova, 2016. http://hdl.handle.net/11577/3424384.
Texto completoL’obiettivo di questo progetto è di investigare la pianificazione di traiettoria ed il controllo di robot paralleli a cavi al fine di migliorare le prestazioni del sistema. Rigidezza e destrezza sono indici di prestazione ampiamente utilizzati del progetto e controllo di sistemi robotici. Allo stato dell’arte, non esistono lavori relativi a sistemi a cavi adattativi riguardanti il controllo della posizione delle pulegge per ottenere indici di rigidezza e destrezza ottimali. Considerando un moto quasi-statico dell’organo terminale e trascurando la rigidezza attiva del sistema, è stato possibile proporre strategie di pianificazione di moto delle pulegge che massimizzino gli indici di destrezza e rigidezza elastica. E’ stato possibile massimizzare simultaneamente tali indici per alcuni casi di robot a cavi adattativi sfruttando la ridondanza dei sistemi analizzati. Per il progetto di robot a cavi paralleli non adattativi, è impossibile cambiare gli indici di destrezza e di rigidezza elastica per una certa posizione dell’organo terminale a causa dell’orientazione e della lunghezza dei cavi fissata; comunque, la rigidezza attiva può essere modificata cambiando la tensione dei cavi. L’incremento della tensione dei cavi può essere desiderabile a causa dell’aumento di rigidezza, del miglioramento delle prestazioni di inseguimento di traiettoria, più precisamente movimento e risposta ai disturbi; tuttavia, può aumentare il consumo energetico e portare a saturazione gli attuatori. Tipicamente i metodi di distribuzione delle tensioni operano mantenendo costante il valore di tensione minimo da applicare ai cavi. Tali valori sono scelti attraverso esperimenti per raggiungere le prestazioni di inseguimento della traiettoria desiderata, considerando anche le capacità degli attuatori. Per migliorare le prestazioni del sistema, viene proposto un metodo dinamico di controllo delle tensioni minime (DMTC). In questo approccio è possibile variare la tensione minima in tempo reale sulla base della rigidezza, della dinamica del sistema e del valore dell’errore ottenuto come feedback. Attraverso un semplice apparato sperimentale, è stato possibile confrontare il metodo tradizionale di distribuzione delle tensioni basato sulla tensione minima fissa ed il metodo proposto. I risultati sperimentali hanno mostrato che il metodo Dinamico di Controllo delle Tensioni Minime risulta più efficiente rispetto all'approccio tradizionale in termini di accuratezza e consumo energetico. Inoltre, un appropriato algoritmo di controllo può migliorare le prestazioni del sistema. Il controllo ottimo lineare quadratico riveste un ruolo fondamentale nel controllo di un robot a cavi parallelo fornendo tutti gli stati del sistema per la retroazione, incluse velocità e posizione, in aggiunta ai risultati ottimali. Un controllo ottimo lineare quadratico è stato progettato e testato. I risultati significativi sono quindi stati presentati e discussi.
Lessanibahri, Saman. "Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces". Thesis, Ecole centrale de Nantes, 2020. https://tel.archives-ouvertes.fr/tel-03174262.
Texto completoCable-Driven Parallel Robots (CDPRs) also noted as wire-driven robots are parallel manipulators with flexible cables instead of rigid links. A CDPR consists of a base frame, a moving-platform and a set of cables connecting the moving-platform to the base frame. CDPRs are well-known for their advantageous performance over classical parallel robots in terms of translation workspace, reconfigurability, payload capacity and high dynamic performance. However, most of the CDPRs provide limited amplitudes of rotation of the moving-platform due to cable/cable and cable/moving-platform collisions. The objective of this thesis is to design, analyze and build hybrid CDPRs to enlarge the orientation workspace in addition to their large translation workspace by exploiting cableloops. This research work presents development of three hybrid CDPRs with drastically augmented orientation workspace suitable for tasks requiring large orientation and translational workspaces like tomography scanning, camera-orienting devices, visual surveillance and inspection
Yuan, Han. "Static and dynamic stiffness analysis of cable-driven parallel robots". Thesis, Rennes, INSA, 2015. http://www.theses.fr/2015ISAR0003/document.
Texto completoThis thesis contributes to the analysis of the static and dynamic stiffness of cable-driven parallel robots (CDPRs) aiming to improve the static positioning accuracy and the trajectory tracking accuracy. The proposed static and dynamic cable modeling considers the effect of cable weight on the cable profile and the effect of cable mass on the cable dynamics. Based on the static cable model, the static pose error of the end-effector is defined and the variation of the end-effector pose error with the external load is used to evaluate the static stiffness of CDPRs. A new dynamic model of CDPRs is proposed with considering the coupling of the cable dynamics and the end-effector vibrations. Experimental validations are carried out on CDPR prototypes. Static experiments, modal experiments, free vibration experiments and trajectory experiments are performed. The proposed static and dynamic models are verified. Cable dynamics, robot dynamics and their coupling are discussed. Results show the relevance of the proposed models on improving the performances of CDPRs in terms of design and control. Besides stiffness analysis, the proposed models are applied on the force distribution of redundant actuated CDPRs. A new method on the calculation of the cable forces is proposed, where the determination of the lower-boundary of the cable forces is presented. The consideration of the pose-dependence of the lower force boundary can minimize the cable forces and improve the energy efficiency of CDPRs
Azizian, Kaveh. "Optimum-synthesis methods for cable-driven parallel mechanisms". Thesis, Université Laval, 2012. http://www.theses.ulaval.ca/2012/29255/29255.pdf.
Texto completoKraus, Werner [Verfasser] y Andreas [Akademischer Betreuer] Pott. "Force control of cable-driven parallel robots / Werner Kraus. Betreuer: Andreas Pott". Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2016. http://d-nb.info/1093404353/34.
Texto completoPicard, Etienne. "Modeling and Robust Control of Cable-Driven Parallel Robots for Industrial Applications". Thesis, Ecole centrale de Nantes, 2019. http://www.theses.fr/2019ECDN0067.
Texto completoThis thesis covers the modeling and robust control of cable-driven parallel robots (CDPRs) for two industrial applications for the naval sector: pick and place of metal plates (ROMP) using a suspended CDPR, and window cleaning (ROWC) by a fully constrained CDPR. The work was carried out in the context of the ROCKET project at IRT Jules Verne. The first part of this thesis focuses on the modeling and calibration of CDPRs. Models are written, including the consideration of pulleys geometry and cable elasticity. A linear model of cable elasticity introduced and used to write the robot stiffness matrix. A method for estimating the platform mass and center of mass position is proposed and experimented based on cable tension measurements, assuming a low-dynamic trajectory. Finally, the calibration of CDPRs is discussed and an automatic calibration method is tested in simulation based on the different models. The second part is dedicated to the robust control of RPCs against the perturbations identified for both applications. Several control architectures have been experimented depending on the available information about the system. Two families of controllers are compared for the control of ROMP: a proportional-derivative (PD) controller and a recent controller automatically balancing between sliding mode or linear algorithms (SML). In the case of fully constrained CDPRs such as ROWC, the control architecture must include a tension distribution to ensure safety. A new tension selection criterion based on the stiffness matrix is proposed to reduce the displacement of the platform due to water jet pressure. Finally, CDPR emergency stops are discussed and the behavior of ROMP and ROWC prototypes was evaluated in emergency situations
Berti, Alessandro <1986>. "Kinematics and statics of cable-driven parallel robots by interval-analysis-based methods". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7151/7/thesis.pdf.
Texto completoNegli ultimi decenni il lavoro di una parte sempre maggiore di ricercatori che si occupano di robotica si è concentrato su un particolare gruppo di robot appartenenti alla famiglia dei manipolatori paralleli: i robot a cavi. Nonostante i numerosi studi al riguardo, questi robot presentano ancora oggi numerose problematiche del tutto (o in parte) irrisolte. Lo studio della loro cinematica nello specifico, già complesso per i manipolatori paralleli tradizionali, è ulteriormente complicato dalla natura non lineare dei cavi, i quali possono esercitare sforzi di sola trazione. Il lavoro presentato in questa tesi si concentra dunque sullo studio della cinematica dei robot a cavi e sulla messa a punto di tecniche numeriche in grado di affrontare parte delle problematiche ad essa legate. La maggior parte del lavoro è incentrata sullo sviluppo di una procedura per la soluzione del problema geometrico diretto di un generico manipolatore a cavi basata sull'analisi per intervalli. Questa tecnica di analisi numeirica, oltre a consentire una rapida soluzione del problema, permette di garantire i risultati ottenuti in caso di errori di cancellazione e arrotondamento e consente di considerare eventuali incertezze presenti nel modello del problema. Il codice sviluppato è stato testato attraverso un piccolo prototipo di manipolatore a cavi la cui realizzazione, avvenuta durante il percorso di dottrato, è descritta all'interno dell'elaborato unitamente al lavoro collaterale svolto durante la fase di progettazione e simulazione.
Pendant les dernières décennies, le travail d'une partie toujours croissante de chercheurs qui s'occupent de robotique s'est focalisé sur un groupe spécifique de robots qui fait partie de la famille des manipulateurs parallèles: les robots à câbles. Malgré les nombreux études que l'on a consacré à ce sujet, ces robots présentent encore aujourd'hui plusieurs problématiques complètement ou partiellement irrésolues. En particulier l'étude de leur cinématique, qui se révèle déjà complexe pour les manipulateurs parallèles traditionnels, est rendu encore plus compliqué par la nature non linéaire des câbles qui peuvent seulement exercer des efforts de traction. Le travail présenté dans ma thèse concentre donc son attention sur l'étude de la cinématique des robots à câbles et sur la mise au point de techniques numériques capables d'aborder une partie des problématiques liées à cela. La plupart du travail se concentre sur l'élaboration d'un algorithme pour la résolution du problème géométrique direct d'un manipulateur à câbles général qui se fonde sur l'analyse par intervalles. Cette technique d'analyse permet non seulement de résoudre rapidement le problème mais également de garantir les résultats obtenus en cas d'erreur de cancellation et d'arrondi et de prendre en considération les incertitudes éventuellement presentes dans le modèle du problème. Le code développé a été testé grâce à un petit prototype de manipulateur à câbles dont la réalisation, qui a eu lieu pendant le parcours de doctorat, est décrite à l'intérieur du devoir en accord avec la phase de conception du projet et de simulation.
Berti, Alessandro <1986>. "Kinematics and statics of cable-driven parallel robots by interval-analysis-based methods". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7151/.
Texto completoNegli ultimi decenni il lavoro di una parte sempre maggiore di ricercatori che si occupano di robotica si è concentrato su un particolare gruppo di robot appartenenti alla famiglia dei manipolatori paralleli: i robot a cavi. Nonostante i numerosi studi al riguardo, questi robot presentano ancora oggi numerose problematiche del tutto (o in parte) irrisolte. Lo studio della loro cinematica nello specifico, già complesso per i manipolatori paralleli tradizionali, è ulteriormente complicato dalla natura non lineare dei cavi, i quali possono esercitare sforzi di sola trazione. Il lavoro presentato in questa tesi si concentra dunque sullo studio della cinematica dei robot a cavi e sulla messa a punto di tecniche numeriche in grado di affrontare parte delle problematiche ad essa legate. La maggior parte del lavoro è incentrata sullo sviluppo di una procedura per la soluzione del problema geometrico diretto di un generico manipolatore a cavi basata sull'analisi per intervalli. Questa tecnica di analisi numeirica, oltre a consentire una rapida soluzione del problema, permette di garantire i risultati ottenuti in caso di errori di cancellazione e arrotondamento e consente di considerare eventuali incertezze presenti nel modello del problema. Il codice sviluppato è stato testato attraverso un piccolo prototipo di manipolatore a cavi la cui realizzazione, avvenuta durante il percorso di dottrato, è descritta all'interno dell'elaborato unitamente al lavoro collaterale svolto durante la fase di progettazione e simulazione.
Pendant les dernières décennies, le travail d'une partie toujours croissante de chercheurs qui s'occupent de robotique s'est focalisé sur un groupe spécifique de robots qui fait partie de la famille des manipulateurs parallèles: les robots à câbles. Malgré les nombreux études que l'on a consacré à ce sujet, ces robots présentent encore aujourd'hui plusieurs problématiques complètement ou partiellement irrésolues. En particulier l'étude de leur cinématique, qui se révèle déjà complexe pour les manipulateurs parallèles traditionnels, est rendu encore plus compliqué par la nature non linéaire des câbles qui peuvent seulement exercer des efforts de traction. Le travail présenté dans ma thèse concentre donc son attention sur l'étude de la cinématique des robots à câbles et sur la mise au point de techniques numériques capables d'aborder une partie des problématiques liées à cela. La plupart du travail se concentre sur l'élaboration d'un algorithme pour la résolution du problème géométrique direct d'un manipulateur à câbles général qui se fonde sur l'analyse par intervalles. Cette technique d'analyse permet non seulement de résoudre rapidement le problème mais également de garantir les résultats obtenus en cas d'erreur de cancellation et d'arrondi et de prendre en considération les incertitudes éventuellement presentes dans le modèle du problème. Le code développé a été testé grâce à un petit prototype de manipulateur à câbles dont la réalisation, qui a eu lieu pendant le parcours de doctorat, est décrite à l'intérieur du devoir en accord avec la phase de conception du projet et de simulation.
Métillon, Marceau. "Modelling, Control and Performance Analysis of Cable-Driven Parallel Cobots". Electronic Thesis or Diss., Ecole centrale de Nantes, 2023. http://www.theses.fr/2023ECDN0015.
Texto completoThis PhD thesis addresses the modelling,control and performance analysis of collaborative Cable-Driven Parallel Robots (CDPRs). An elasto-geometric modelling of the actuation elements is proposed to improve their positioning accuracy. Different inverse elastogeometricmodels are simulated and experimentally assessed then analysed in a sensitivity analysis.Then, control strategies allowing the physical interactions of operators with CDPRs are proposed. These strategies are based on the impedance control and allow the robots comanipulation. A hybrid controller for trajectory tracking and co-manipulation is presented and experimented. A safety device for the proximity detection based on the capacitive coupling principle is fitted to CDPRs and tested. Finally, user experiments are led to determine the performance of the proposed strategies.Three experiments led with volunte erenable the performance variation evaluationand the user behaviour study during physical human-CDPR interactions
Liu, Hanwei. "Conceptual design, static and dynamic analysis of novel cable-loop-driven parallel mechanisms". Thesis, Université Laval, 2012. http://www.theses.ulaval.ca/2012/29451/29451.pdf.
Texto completoSammarchi, Enrico. "Dynamic modelling and simulation of a cable-driven parallel robot for rehabilitation applications". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/17526/.
Texto completoCavalcanti, santos João. "Model Predictive Tracking Control of Cable-Driven Parallel Robots : From Concept to Real-Time Validation". Thesis, Montpellier, 2020. http://www.theses.fr/2020MONTS017.
Texto completoThis thesis addresses the position tracking control of Cable-Driven Parallel Robot (CDPR) within the framework of the European H2020 project named Hephaestus. The main goal of this project is to develop a robotic solution for the installation of curtain wall modules on building facades. An essential requirement is that the CDPR should safely operate close to the system constraints. It was observed that state-of-the-art control schemes do not cope with this requirement. The control strategies used in the design of such schemes are not able to consider system constraints as an integral part of the main controller.Since Model Predictive Control (MPC) is one of the few control strategies able to explicitly handle the system constraints, this thesis is focused on the design and analysis of MPC schemes for position tracking of CDPRs. Two approaches are then proposed: a linear MPC and a nonlinear MPC (NMPC).The proposed linear MPC is based on a linear approximation of the CDPR dynamic model. The Experimental tests proved that the linear MPC may safely operate close to system constraints. This capability is validated by applying a desired trajectory that cannot be performed without violating the cable tension limits. In this case, the proposed linear MPC scheme is able to perform a trajectory tracking as best as possible while satisfying the cable tension bounds. Conversely, state-of-the-art control schemes are not able to suitably respond under such conditions. Comparing the behavior obtained with the proposed linear MPC and a state-of-the-art control scheme, one may conclude that the capability to operate close to the system constraints represents an important result related to the safety of the operation of CDPRs.Nevertheless, it was noted that the proposed linear MPC may be sensitive to increased nonlinearities. The precision of positioning tracking may be deteriorated for trajectories presenting relatively high velocities. Accordingly, an NMPC able to consider the system nonlinearities is proposed. In contrast to its linear counterpart, the stability of the resulting closed-loop system could be analyzed. Details on its numerical implementation are presented and the improved performance is validated through simulations.In addition to the design of MPC control schemes, this thesis also presents contributions related to the kinematic model of CDPRs and the control of cable tensions. A Forward Kinematic (FK) algorithm considering the pulley kinematics is proposed. An explicit expression for the differential kinematics enabled the implementation of a numerical solution of the nonlinear least-squares system representing the FK problem. Its convergence capabilities are evaluated experimentally and numerically.It is worth noting that the algorithms and control schemes proposed in this thesis were implemented in an industrial software, which demonstrates the applicability of the proposed solutions in commercial applications
Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
Texto completoThe offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
Tempel, Philipp [Verfasser] y Andreas [Akademischer Betreuer] Pott. "Dynamics of cable-driven parallel robots with elastic and flexible, time-varying length cables / Philipp Tempel ; Betreuer: Andreas Pott". Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2019. http://d-nb.info/1207836842/34.
Texto completoRAMADOSS, VISHAL. "Redundant Unilaterally Actuated Kinematic Chains: Modeling and Analysis". Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/1005814.
Texto completoSciarra, Giuseppe. "Design and prototyping of a Cable-Driven Schonflies-Motion Generator". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.
Buscar texto completoWeber, Xavier. "Commande modale de robots parallèles à câbles flexibles". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD026/document.
Texto completoCable-driven parallel robots use cables only to connect a fixed base to a mobile end-effector. Robot motion is obtained by winding the cables around pulleys to alter their length. Thus, cable-driven parallel robots are lightweight, can achieve very high dynamics and exhibit a very large workspace.Therefore, they are subject tp high magnitude and low frequency vibrations, because of their very low end-effector stiffness.This thesis proposes a novel approach for effective active damping of those vibrations.The dynamical model of a cable-driven parallel robot embedding reaction wheels is derived, lineraized around an equilibrium point and projected onto modal space, in which vibrations are decoupled.For each vibration mode, a control algorithm designed by poles placement adapted to the associated vibration natural frequency is applied for active vibration damping.Experiments conducted on a realistic simulation and two prototypes are presented to validate this approach
Lesellier, Maximilien. "Conception, optimisation et commande d'un stablisateur actif pour la compensation des vibrations des robots parallèles à câbles". Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS004/document.
Texto completoIn this thesis, an active stabilizer is designed to be embedded on the platform of a Cable-Driven Parallel Robot (CDPR) and to damp vibrations affecting the platform by producing a wrench on it.First, a mechanical modeling of various active stabilization devices allows the choice of an appropriate solution for vibration damping. The selected solution consists of a stabilizer composed of rotating arms. Then, this model is used to optimize the stabilizer structure by looking at which arm arrangement maximizes the power delivered by the stabilizer to the CDPR mobile platform.A control strategy is then proposed for the system consisting of the CDPR mobile platform and the embedded active stabilizer. As this system consists of two parts operating at different time scales, the singular perturbation theory is used to prove the stability of the proposed control.Finally, simulation experiments make it possible to validate the use of an on-board active stabilizer to damp the vibrations of the mobile platform of a CDPR, and controlled with the control law proposed in this thesis
Schmidt, Valentin Lorenz [Verfasser] y Andreas [Akademischer Betreuer] Pott. "Modeling techniques and reliable real-time implementation of kinematics for cable-driven parallel robots using polymer fiber cables / Valentin Lorenz Schmidt ; Betreuer: Andreas Pott". Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2017. http://d-nb.info/1130657019/34.
Texto completoRiechel, Andrew T. "Force-Feasible Workspace Analysis and Motor Mount Disturbance Compensation for Point-Mass Cable Robots". Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5243.
Texto completoGagliardini, Lorenzo. "Reconfigurations discrètes de robots parallèles à câbles". Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0002/document.
Texto completoCable-Driven Parallel Robots (CDPRs) are parallel robots whose legs consist of cables. CDPRs may be used successfully in several industrial applications such as sandblasting and painting of large and heavy structures.The first part of this manuscript is dedicated to the modelling of CDPRs. Two elasto-static models have been introduced in this manuscript, in order to describe the small displacement of the moving platform due to the non-rigid nature of the cables. These models can be used for the modal analysis of the CDPRs, as well. The elasto-static model based on linear cables has been computed including the effect of the pulleys orienting the cables into the CDPR workspace.The second part of this manuscript deals with the investigation of the workspace of CDPRs, in terms of their moving platform static and dynamic equilibria, and in terms of their moving platform kinematic constraints. Two novel workspaces have been defined: (i) the Twist Feasible Workspace (TFW); (ii) the Improved Dynamic Feasible Workspace (IDFW). The third part of this manuscript describes a generic design strategy for CDPRs and a novel design strategy for Reconfigurable Cable-Driven Parallel Robots (RCDPRs). In this manuscript, reconfigurations are limited to the thedisplacement of the cable exit points, assuming the cables exit points can be installed on a large but finite set of locations.The fourth part of this manuscript introduces an algorithm to compute an optimal reconfiguration strategy for RCDPRs. This strategy can be used when the working environment of the RCDPR is extremely cluttered and when it is not possible to predict how many configurations are necessary to complete the task. The effectiveness of the algorithm hasbeen analysed by means of a planar and a spatial casestudies reproducing some industrial tasks
Riehl, Nicolas. "Modélisation et design de robots parallèles à câbles de grande dimension". Thesis, Montpellier 2, 2011. http://www.theses.fr/2011MON20050/document.
Texto completoCable-driven robot is an original variation of parallel robots. Replacing rigid bodies by cables provides new capabilities to these robots, and particularly large-size workspaces, since long cable lengths can be deployed. In the literature, cables are usually supposed to be inextensible and massless. If this modeling is valid for small robots with moderate payloads, this cable model is not accurate enough to be used for large dimension cable-driven robots. The work presented here focuses on the modeling of such large cable robots. First, from a set of traction tests applied to various cables, elastic models are proposed. Then, the well-know elastic catenary model is recalled, and its effects on the modeling of large dimension cable robots is shown. However, when using this cable model, solving the platform static equilibrium require the resolution of a non-linear coupled equation system. Assuming a low sagging of the cable, some simplifications can be made to this model. The resulting simplified hefty cable model is then presented and the new expression of the static equilibrium is shown to be close to the one obtained with the massless cable model. Thus, it allows us to determine the set of admissible mobile platform wrenches at a given pose. By comparing this set to the set of required wrenches for a specific task a cost function is finally defined and used in a design procedure dedicated to large dimension cable-driven robots
Lamaury, Johann. "Contribution à la commande des robots parallèles à câbles à redondance d'actionnement". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2013. http://tel.archives-ouvertes.fr/tel-01021423.
Texto completoBerti, Alessandro. "Modélisations géométrique et statique des robots parallèles à câbles avec des méthodes d'analyse par intervalles". Thesis, Nice, 2015. http://www.theses.fr/2015NICE4018/document.
Texto completoIn the past two decades the work of a growing portion of researchers in robotics focused on a particular group of machines, belonging to the family of parallel manipulators: the cable robots. Although these robots share several theoretical elements with the better known parallel robots, they still present completely (or partly) unsolved issues. In particular, the study of their kinematic, already a difficult subject for conventional parallel manipulators, is further complicated by the non-linear nature of cables, which can transmit forces only when they are taut. The work presented in this thesis therefore focuses on the study of the kinematics of these robots and on the development of numerical techniques able to address some of the problems related to it. Most of the work is focused on the development of an interval-analysis-based procedure for the solution of the direct geometric problem (DGP) of a generic cable manipulator. This technique, as well as allowing for a rapid solution of the problem, also guarantees the results obtained against rounding and elimination errors and can take into account any uncertainties in the model of the problem. The developed code has been tested with the help of a small manipulator whose realization is described in this dissertation together with its design and simulation phases
Chellal, Ryad. "Commande robuste des robots parallèles à câbles avec mesure extéroceptive". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD039/document.
Texto completoThis thesis presents a complete work on modelling, identification and control of cable-driven parallel robots in order to improve the dynamic performances in terms of speed, precision and robustness, while managing the problems related to the use of cables. In the context of these researches, the identification and control techniques are improved thanks to the use of exteroceptive sensors, in particular using vision. Methods from the fields of robotics and control are implemented and compared. The experimental validations are performed on a demonstrator available in the laboratory : an INCA 6D robot designed by Haption company, equipped with a Bonita motion capture system developed by Vicon company
Jabbari, Imed. "Commandes non linéaires sous contraintes pour les Robots Parallèles à Câbles". Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0186.
Texto completoThis study concerns the control of nonlinear systems under constraints for parallel robots with cables. These have grown in popularity over the past twenty years. Indeed, cable robots have several advantages over rigid robots, namely a very large workspace, moving heavy loads with high speed and precision, low inertia, simple and fast reconfiguration, and finally low manufacturing cost. The applications are numerous: in the medical field, in biology, to study the behavior of insects in free flight, in port activities to move containers or for the construction of buildings.This type of system represents a major interest in the analysis and synthesis of dynamical systems. Indeed, cable robots, through their modeling, represent a large class of nonlinear electromechanical systems with the additional difficulty of solving an algebraic constraint on cable tensions. It is worth pointing out that the control of (free-end) robots has been largely addressed/solved by classical approaches using elegant solutions, the control of cable robots remains a difficult problem to solve given this constraint. There are few results, often local and heuristic with simplifying assumptions, but far from being a satisfactory solution.It is useful to remember that the main feature of cable robots is that the kinematic chains are not rigid segments, but made up of flexible cables. The latter are attached, at one end, to the mobile base (or terminal device in industrial parlance) and, at the other end, to an electric actuator/motor. This particularity introduces a strong constraint, unlike series robots with free ends, on the tensions of the cables which must belong to a given and positive range in order to avoid breaks or the formation of belly. Therefore, the issues related to the control of parallel robots with cables are not only to bring the robot from one point to another, to follow a trajectory, but also to satisfy these constraints.In this thesis, we answer this problem by proposing simple and effective control laws according to two different approaches:The first consists in developing a control law with convergence in finite time using the “sliding mode” method for a robot with eight motors (moving in 3D). Very few parameters are required to implement this technique, which still requires an optimization algorithm. Numerical simulations are promising and give very satisfactory results.The second approach is quite different and original, after some clever transformations, we write the dynamics of the error in a bilinear form then we establish a time control law varying under saturation constraints. By using a time-varying Lyapunov function, we demonstrate the exponential convergence of the tracking error. This result has been successfully applied to robots with four motors (2D) and then with eight motors (3D). It is important to emphasize that this approach, contrary to the literature, is freed from the use of optimization algorithms which can sometimes pose convergence problems.Finally, it is useful to emphasize that these results have been validated through several numerical simulations
Moradi, Amir. "Stiffness Analysis of Cable-Driven Parallel Robots". Thesis, 2013. http://hdl.handle.net/1974/7965.
Texto completoThesis (Ph.D, Mechanical and Materials Engineering) -- Queen's University, 2013-04-27 08:47:26.297
(7954217), Hao Xiong. "Development of Learning Control Strategies for a Cable-Driven Device Assisting a Human Joint". Thesis, 2019.
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