Abstract
The reachable workspace of a robot carrying a payload is usually limited by the maximal value of the torque that each actuator can deliver. This results in limiting the zones for the robot to operate with the payload due to a possible division of its static-wrench workspace into several disconnected aspects.
In order to increase the reachable workspace areas, this paper proposes to exploit the natural oscillations in dynamics, so that the robot can carry a payload which is out of its feasible static-wrench workspace, i.e. to perform motions between two disconnected aspects, while constraining the torques of the actuators. This is done thanks to the solution of a boundary value problem, which seeks to smartly exchange the gravity potential energy and the kinetic energy in order to connect two desired payload positions, which are placed in two disconnected aspects. Simulations of the suggested approach on a 2-degree-of-freedom robot are performed and show the efficiency of the proposed approach.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
M. Gouttefarde, J.-P. Merlet, and D. Daney: Wrench-feasible workspace of parallel cable-driven mechanisms. In Proc. IEEE International Conference on Robotics and Automation, Rome, Italy, 2007, pp. 1492-1497
QJ. Duan and X. Duan: Workspace classification and quantification calculations of cable-driven parallel robots. In Adv. Mech. Eng. Volume 2014, Article ID 358727, 9 pages.
M. Hiller, S. Fang, S. Mielczarek, R. Verhoeven, and D. Franitza: Design, analysis and realization of tendon-based parallel manipulators. In Mech. Mach. Theory, vol. 40, no. 4, pp. 429-445, April 2005.
X. Jiang, E. Barnett, C. Gosselin: Periodic Trajectory Planning Beyond the Static Workspace for 6-DOF Cable-Suspended Parallel Robots. IEEE Transactions on Robotics, 2018, vol. 34, no. 4, pp. 1128-1140.
C. Gosselin, P. Ren, and S. Foucault: Dynamic trajectory planning of a two-dof cable-suspended parallel robot. In Proc. IEEE International Conference on Robotics and Automation, St. Paul, MN, USA, May 1418, 2012, pp. 1476-1481.
G. Mottola, C. Gosselin and M. Carricato: Dynamically feasible motions of a class of purely-translational cable-suspended parallel robots. In Mech. Mach. Theory, vol. 132, pp. 193-206, 2019.
X. Jiang, C.Gosselin: Dynamic point-to-point trajectory planning of a three-DOF cable-suspended parallel robot. IEEE Transactions on Robotics 32(6), 15501557 (2016).
J.P. Barreto, F.J.-F. Schöler and B. Corves: The concept of natural motion for pick and place operations. In: New advances in mechanisms, mechanical transmissions and robotics. Springer, pp. 89-98.
W. Schiehlen, and N. Guse: Control of Limit Cycle Oscillations, In Proc. of the IUTAM Symposium on Chaotic Dynamics and Control of Systems and Processes in Mechanics, pp. 429-439, 2005.
R. Balderas Hill, S. Briot, A. Chriette, and P. Martinet, 2018. Minimizing Input Torques of a High-Speed Five-Bar Mechanism by using Variable Stiffness Springs. Proceedings of the 22nd CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2018), pp. 61-68, June 25-28, 2018, Rennes, France.
E. Dombre and W. Khalil. Modeling, identification and control of robots. Hermes Sciences, Europe. Paris, 2002. ISBN 978-1-903996-66-9.
S. M. Roberts and J. S. Shipman. Two-Point Boundary Value Problems: Shooting Methods. New York: Elsevier, 1972. ISBN 978-0444001023.
R. Balderas Hill, S. Briot, A. Chriette, and P. Martinet, 2018. Increasing energy efficiency of high-speed parallel robots by using variable stiffness springs and optimal motion generation. Proceedings of the ASME 2018 IDETC/CIE 2018, pp. V05BT07A011 10 pages, August 26-29, 2018, Quebec City, Canada.
A. L. C. Ruiz, S. Caro, P. Cardou, and F. Guay. ARACHNIS: Analysis of robots actuated by cables with handy and neat interface software. In Cable-Driven Parallel Robots, ser. Mechanisms and Machine Science, A. Pott and T. Bruckmann, Eds. Springer International Publishing, vol. 32, pp. 293305.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Hill, R.B., Briot, S., Chriette, A., Martinet, P. (2019). Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_215
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_215
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)