Advertisement

Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation

  • Thomas ReichenbachEmail author
  • Philipp Tempel
  • Alexander Verl
  • Andreas Pott
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

Comparing cable-driven parallel robots (short CDPRs or cable robots) with conventional parallel mechanisms, CDPRs have advantages in terms of flexibility, dynamics, and workspace size. In general, the rotational capabilities of parallel mechanisms without any additional actuator system are limited. This paper presents an approach for the design and analysis of a CDPR which allows an unlimited rotation about one axis by actuating solely cables. The unlimited rotation consists of a relative positioning between multiple platforms. The kinematics, static force distribution, and the workspace of a planar cable robot are analyzed. A formulation of the structure matrix for cable robots with multiple platforms is given, allowing to use conventional algorithms for calculation of force distributions. The performed simulation shows different characteristics of the force distribution and workspace of this new type of cable robot contrary to conventional ones. Finally, the conclusion shows that the dextrous workspaces of the investigated CDPR is nonempty.

Keywords

cable-driven parallel robot unlimited rotation multiple platforms 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Notes

Acknowledgments

This work was supported by the German Research Foundation (DFG-project number: 358142701) at the University of Stuttgart.

References

  1. Bruckmann, T., Mikelsons, L., Brandt, T., Hiller, M., Schramm, D.: Wire robots part I: Kinematics, analysis & design. In: Ryu, J.H. (ed.) Parallel Manipulators, New Developments. I-Tech Education and Publishing (2008)Google Scholar
  2. Gouttefarde, M., Collard, J.F., Riehl, N., Baradat, C.: Geometry selection of a redundantly actuated cable-suspended parallel robot. IEEE Transactions on Robotics 31(2), 501–510 (2015)CrossRefGoogle Scholar
  3. Gouttefarde, M., Merlet, J.P., Daney, D.: Wrench-feasible workspace of parallel cabledriven mechanisms. In: IEEE International Conference on Robotics and Automation, pp. 1492–1497 (2007)Google Scholar
  4. Hassan, M., Khajepour, A.: Minimum-norm solution for the actuator forces in cable-based parallel manipulators based on convex optimization. In: IEEE International Conference on Robotics and Automation, pp. 1498–1503 (2007)Google Scholar
  5. Lau, D., Oetomo, D., Halgamuge, S.K.: Generalized modeling of multilink cable-driven manipulators with arbitrary routing using the cable-routing matrix. IEEE Transactions on Robotics 29(5), 1102–1113 (2013)CrossRefGoogle Scholar
  6. Li, H., Zhang, X., Yao, R., Sun, J., Pan, G., Zhu, W.: Optimal Force Distribution Based on Slack Rope Model in the Incompletely Constrained Cable-Driven Parallel Mechanism of FAST Telescope, pp. 87–102. Springer Berlin Heidelberg (2013)Google Scholar
  7. Merlet, J.P.: Parallel robots. 2. edn. Springer, Dordrecht (2006)Google Scholar
  8. Miermeister, P., Pott, A.: Design of cable-driven parallel robots with multiple platforms and endless rotating axes. In: Kecskeméthy, A., Geu Flores, F. (eds.) Interdisciplinary Applications of Kinematics, pp. 21–29. Springer International Publishing, Cham (2015)Google Scholar
  9. Pott, A.: Cable-Driven Parallel Robots, vol. 120. Springer International Publishing, Cham (2018)Google Scholar
  10. Pott, A., Bruckmann, T., Mikelsons, L.: Closed-form force distribution for parallel wire robots. In: Kecskeméthy, A., Müller, A. (eds.) Computational Kinematics, pp. 25–34. Springer Berlin Heidelberg (2009)CrossRefGoogle Scholar
  11. Pott, A., Miermeister, P.: Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis, pp. 341–350. Springer International Publishing, Cham (2018)Google Scholar
  12. Shiang, W.J., Cannon, D., Gorman, J.: Optimal force distribution applied to a robotic crane with flexible cables. In: IEEE International Conference on Robotics and Automation., vol. 2, pp. 1948–1954 vol.2 (2000)Google Scholar
  13. Verhoeven, R.: Analysis of the workspace of tendon-based Stewart platforms. Phd thesis, Universität Duisburg-Essen, Duisburg, Germany (2004)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Thomas Reichenbach
    • 1
    Email author
  • Philipp Tempel
    • 1
  • Alexander Verl
    • 1
  • Andreas Pott
    • 1
  1. 1.Institute for Control Engineering for Machine Tools and Manufacturing Units (ISW), University of StuttgartStuttgartGermany

Personalised recommendations