Advertisement

Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

  • Saman Lessanibahri
  • Philippe Cardou
  • Stéphane CaroEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

This paper introduces the concept of a new Cable-Driven Parallel Robot (CDPR) applicable for tasks requiring large rotation and translation workspaces, e.g., camera orienting devices, visual surveillance over vast areas and tomography scanners. The manipulator consists of a fixed frame and a tilt-roll wrist attached to a Moving-Platform (MP). The MP is an under-constrained and articulated mechanism connected to the fixed frame with six cables. The power is transmitted directly from the motors fixed on the frames to the tilt-roll wrist through cable loops. While most of the CDPRs only provide a limited range of rotation of the MP, the proposed manipulator is applicable for a relatively large and singularity-free rotation workspace thanks to its articulated MP.

Keywords

novel mechanism cable loop tilt-roll wrist large orientation workspace 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    S. Bai and J. Angeles. The design of a gearless pitch-roll wrist. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages 3213–3218. IEEE, 2005.Google Scholar
  2. 2.
    F. Guay, P. Cardou, A. L. Cruz-Ruiz, and S. Caro. Measuring how well a structure supports varying external wrenches. In New Advances in Mechanisms, Transmissions and Applications, pages 385–392. Springer, 2014.Google Scholar
  3. 3.
    K. Hyodo and H. Kobayashi. Kinematic and control issues on tendon controlled wrist mechanism. In Robotics, Mechatronics and Manufacturing Systems edited by T. Takamori, K. Tsuchiya, pages 89–94. Elsevier, 1992.Google Scholar
  4. 4.
    H. Khakpour and L. Birglen. Workspace augmentation of spatial 3-dof cable parallel robots using differential actuation. In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, pages 3880–3885. IEEE, 2014.Google Scholar
  5. 5.
    H. Khakpour, L. Birglen, and S.-A. Tahan. Synthesis of differentially driven planar cable parallel manipulators. IEEE Transactions on Robotics, 30(3):619–630, 2014.CrossRefGoogle Scholar
  6. 6.
    H. Khakpour, L. Birglen, and S.-A. Tahan. Analysis and optimization of a new differentially driven cable parallel robot. Journal of Mechanisms and Robotics, 7(3):034503, 2015.CrossRefGoogle Scholar
  7. 7.
    T. N. Le, H. Dobashi, and K. Nagai. Configuration of redundant drive wire mechanism using double actuator modules. ROBOMECH Journal, 3(1):25, 2016.Google Scholar
  8. 8.
    T. N. Le, H. Dobashi, and K. Nagai. Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators. ROBOMECH Journal, 3(1):22, 2016.Google Scholar
  9. 9.
    S. Lessanibahri, P. Cardou, and S. Caro. Parasitic inclinations in cable-driven parallel robots using cable loops. Procedia CIRP, 70:296–301, 2017.CrossRefGoogle Scholar
  10. 10.
    S. Lessanibahri, P. Cardou, and S. Caro. Kinetostatic analysis of a simple cable-driven parallel crane. In Proceedings of the ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Quebec city, Canada, August 28, 2018.Google Scholar
  11. 11.
    K. Nagai, T. N. Le, Y. Hayashi, and K. Ito. Kinematical analysis of redundant drive wire mechanisms with velocity constraint. In Mechatronics and Automation (ICMA), 2012 International Conference on, pages 1496–1501. IEEE, 2012.Google Scholar
  12. 12.
    A. Platis, T. Rasheed, P. Cardou, and S. Caro. Isotropic design of the spherical wrist of a cable-driven parallel robot. In Advances in Robot Kinematics 2016, pages 321–330. Springer, 2018.Google Scholar
  13. 13.
    P. Racioppo, W. Saab, and P. Ben-Tzvi. Design and analysis of reduced degree of freedom modular snake robot. In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pages V05BT08A009–V05BT08A009. American Society of Mechanical Engineers, 2017.Google Scholar
  14. 14.
    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, pages 293–305. Springer, 2015.Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Saman Lessanibahri
    • 1
    • 2
  • Philippe Cardou
    • 3
  • Stéphane Caro
    • 2
    • 4
    Email author
  1. 1.École Centrale de NantesNantesFrance
  2. 2.Laboratoire des Sciences du Numérique de Nantes (LS2N)UMR CNRS 6004NantesFrance
  3. 3.Département de génie mécanique, Université LavalQuébecCanada
  4. 4.Centre National de la Recherche Scientifique (CNRS)NantesFrance

Personalised recommendations