Advertisement

Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots

  • Leila NotashEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

In this paper, the implementation of the antipodal principles on the spatial cable-driven parallel robots is investigated. The spatial form of the antipodal method is presented and the criteria for examining the wrench-closure workspace of cable robots are developed. The generalization of the 3D conditions on the 6 DOF fully constrained spatial robots, with one or two cables at each platform attachment points, is proposed. Comprehensive mathematical models are developed and implemented in simulation for a variety of 5 and 6 degrees of freedom cable robots.

Keywords

Cable-Driven Parallel Robots Antipodal Method 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Notash, L.: Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations, In Cable-Driven Parallel Robots, Springer, Cham, pp. 26–36 (2018).Google Scholar
  2. 2.
    Roberts, R.G., Graham, T., Lippit, T.: On the Inverse Kinematics, Statics, and Fault Tolerance of Cable-Suspended Robots, J. Robot. Syst. 15(10), 581–597 (1998).CrossRefGoogle Scholar
  3. 3.
    Voglewede, P.A., and Ebert-Uphoff, I.: Application of the Antipodal Grasp Theorem to Cable-Driven Robots, IEEE Trans. Robot., 21(4), 713–718 (2005).CrossRefGoogle Scholar
  4. 4.
    Stump, E., Kumar, V.: Workspace of Cable-Actuated Parallel Manipulators, ASME J. Mech. Des., 128, 159–167 (2006).CrossRefGoogle Scholar
  5. 5.
    McColl, D., Notash, L.: Workspace Envelope Formulation of Planar Wire-Actuated Parallel Manipulators, Trans. Can. Soc. Mech. Eng., 33(4), 547–560 (2009).CrossRefGoogle Scholar
  6. 6.
    Bouchard, S., Gosselin, C., and Moore, B.: On the Ability of a Cable-Driven Robot to Generate a Prescribed Set of Wrenches. ASME J. Mech. Rob., 2(1), p. 011010 (2010).CrossRefGoogle Scholar
  7. 7.
    McColl, D., Notash, L.: Workspace Formulation of Planar Wire-Actuated Parallel Manipulators, Robotica, 29(4), 607–617 (2011).CrossRefGoogle Scholar
  8. 8.
    Notash, L.: Designing Positive Tension for Wire-Actuated Parallel Manipulators. In: Kumar, V., Schmiedeler, J., Sreenivasan, S. V., Su, H.-J. Editors, Advances in Mechanisms, Robotics and Design Education and Research, pp. 251-263, Springer, Cham, Switzerland (2013).CrossRefGoogle Scholar
  9. 9.
    Notash, L.: Failure Recovery for Wrench Capability of Wire-Actuated Parallel Manipulators, Robotica, 30(6), 941–950 (2012).CrossRefGoogle Scholar
  10. 10.
    Nguyen, V. D.: Constructing force-closure grasps, Int. J. Robot. Res. 7(3), 3–16 (1988).Google Scholar
  11. 11.
    Murray, R., Li, Z., Sastry, S.: A Mathematical Introduction to Robotic Manipulation, CRC Press (1994).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechanical and Materials EngineeringQueen’s UniversityKingstonCanada

Personalised recommendations