Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation
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.
Keywordscable-driven parallel robot unlimited rotation multiple platforms
Unable to display preview. Download preview PDF.
This work was supported by the German Research Foundation (DFG-project number: 358142701) at the University of Stuttgart.
- 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
- 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
- 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
- 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
- Merlet, J.P.: Parallel robots. 2. edn. Springer, Dordrecht (2006)Google Scholar
- 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
- Pott, A.: Cable-Driven Parallel Robots, vol. 120. Springer International Publishing, Cham (2018)Google Scholar
- 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
- 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
- Verhoeven, R.: Analysis of the workspace of tendon-based Stewart platforms. Phd thesis, Universität Duisburg-Essen, Duisburg, Germany (2004)Google Scholar