Advertisement

Kinematic And Workspace Analysis Of Minimally Routed Cable Driven Open Chains

  • Vishal RamadossEmail author
  • Dimiter Zlatanov
  • Matteo Zoppi
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

This paper presents the kineto-static analysis of cable-driven serial kinematic chains (CDSKCs). The CDSKC are typically open-chain structures with complex cable routing and multiple links. By using cable routing between links, re-routing within links and cable bundles, any serial chain with n degrees of freedom can be controlled with n+1 cables. A generalized model that allows minimal and fully actuated cable routing for planar and spatial kinematic chain needs to be formulated. The analyses for CDSKCs require extensions from cable driven parallel manipulators (CDPMs) to consider the different types of cable routing. The workspace analysis of a single and multi-link CDSKC is performed. The effects of changing cable configuration on the feasible workspace for such multilink unilateral manipulators are explored and the configurations of largest reachable workspace are determined.

Keywords

Cable driven serial kinematic chain multi-link cable driven robot fully routed multilink unilateral manipulator 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    J. Albus, R. Bostelman, and N. Dagalakis. The NIST robocrane. Journal of Robotics Systems, 10:709724, 1993.CrossRefGoogle Scholar
  2. 2.
    D. Lau, D. Oetomo, and S.K. Halgamuge. Generalized modeling of multilink cable driven manipulators with arbitrary routing using the cable-routing matrix. IEEE Transactions on Robotics, 29:1102 1113, 2013.CrossRefGoogle Scholar
  3. 3.
    S. K. Mustafa and Agrawal S. K. On the force-closure analysis of ndof cable-driven open chains based on reciprocal screw theory. IEEE Transactions on Robotics, 28(1):2231, 2012.CrossRefGoogle Scholar
  4. 4.
    Y. Mao and S. K. Agrawal. Design of a cable driven arm exoskeleton (carex) for neural rehabilitation. IEEE Transactions on Robotics, 28(4):922931, 2012.CrossRefGoogle Scholar
  5. 5.
    D. Surdilovic, J. Zhang, and R. Bernhardt, STRING-MAN: Wire-robot technology for safe, flexible and human-friendly gait rehabilitation, in Proc. IEEE Int. Conf. Rehab. Robot., 2007, pp. 446453.Google Scholar
  6. 6.
    C. Xiang, C. Weihai, S. K. Agrawal, and W. Jianhua. A Novel customized cable driven robot for 3-DOF wrist and forearm motion training in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE, 2014), pp. 35793584.Google Scholar
  7. 7.
    Lung-Wen Tsai. Design of tendon-driven manipulators. Journal of Mechanical Design, 117:8086, 1995.Google Scholar
  8. 8.
    S. Rezazadeh and S. Behzadipour. Tensionability of an arbitrary two-link multi body. In Proceedings of of the ASME IDETC, number DETC2009-87597, pages 7581, Las Vegas, Nevada, USA, 2009.Google Scholar
  9. 9.
    D. Zlatanov. Serial kinematic chains with unilateral external force constraints. In IFToMM World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 2011.Google Scholar
  10. 10.
    D. Zlatanov, S. Agrawal, and C.M. Gosselin. Convex cones in screw spaces. Mechanism and Machine Theory, 40:710727, 2005.MathSciNetCrossRefGoogle Scholar
  11. 11.
    Bosscher, P., Riechel, A.T., and Ebert-Upho, I.,Wrench-FeasibleWorkspace Generation for Cable-Driven Robots, IEEE Transactions on Robotics, 22, No. 5, pp. 890- 902, 2006.CrossRefGoogle Scholar
  12. 12.
    Gouttefarde, M. and Gosselin, C.M., Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms, IEEE Transactions on Robotics, 22, No. 3, pp. 434-445, 2006.CrossRefGoogle Scholar
  13. 13.
    Dai, J. S., Jones, Rees J. Null space construction using cofactors from a screw algebra context. Proc. R. Soc. Math., Phys. Engng Sci., 2002, 458 (2024), 18451866.MathSciNetCrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Vishal Ramadoss
    • 1
    Email author
  • Dimiter Zlatanov
    • 1
  • Matteo Zoppi
    • 1
  1. 1.University of GenoaGenoaItaly

Personalised recommendations