Advertisement

Slackening Effects in 2D Exact Positioning in Cable-Driven Parallel Manipulators

  • Erika OttavianoEmail author
  • Andrea Arena
  • Vincenzo Gattulli
  • Francesco Potenza
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

An analytical model of elastic cables is presented to evaluate the influence of the cables sag in the exact positioning of a point mass end-effector in a two-dimensional space within the context of cable-driven parallel manipulators. Direct and inverse kinematic problems are formulated by means of 3n nonlinear equations expressing compatibility, equilibrium, and targeting conditions. Examples with an increasing number of cables are proposed to show that, in specific regions of the workspace, solving the inverse kinematics problem implies very slack configurations of redundant cables.

Keywords

cable-driven parallel robot sag cables inverse kinematics direct kinematics 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Notes

Acknowledgements

This work was partially supported by EU Call RFCS-2017 through the research project DESDEMONA (grant agreement number 800687).

References

  1. 1.
    Arena, A., Pacitti, A., Lacarbonara W.: Nonlinear response of elastic cables with flexural-torsional stiffness. Int J Solids Struct, 87, 267–277 (2016).CrossRefGoogle Scholar
  2. 2.
    Bosscher, P.: Cable-suspended robotic contour crafting system. Automat Constr 17: 45–55 (2006).Google Scholar
  3. 3.
    Carricato, M., Merlet, J-P.: Stability analysis of underconstrained cable-driven parallel robots. IEEE Trans. on Robotics 29(1):288–296 (2013).CrossRefGoogle Scholar
  4. 4.
    Castelli, G., Ottaviano, E., Rea, P.: A Cartesian Cable-Suspended Robot for improving end-users’ mobility in an urban environment. Robot Cim-Int Manuf 30(3): 335–343 (2014).CrossRefGoogle Scholar
  5. 5.
    Du, J., Agrawal, SK.: Dynamic Modeling of Cable-Driven Parallel Manipulators with Distributed Mass Flexible Cables. J Vib Acoust 137(2): 1–8 (2015).CrossRefGoogle Scholar
  6. 6.
    Gattulli, V., Alaggio, R., Potenza, F.: Analytical Prediction and Experimental Validation for Longitudinal Control of Cable Oscillations. Int J Nonlin Mech 43: 36–52 (2008).CrossRefGoogle Scholar
  7. 7.
    Gonzalez-Rodriguez, A., Castillo-Garcia, F.J., Ottaviano, E., Rea, P., Gonzalez-Rodriguez, A.G.: On the effects of the design of cable-Driven robots on kinematics and dynamics models accuracy. Mechatronics 43: 18–27 (2017).CrossRefGoogle Scholar
  8. 8.
    Gouttefarde, M., Collard, J., Riehl, N., Baradat, C.: Simplified static analysis of large-dimension parallel cable-driven robots. IEEE International Conference on Robotics and Automation, Saint Paul, MN: 2299–2305 (2012).Google Scholar
  9. 9.
    Irvine, H.: Cable Structures. Cambridge, MA: MIT Press (1981).Google Scholar
  10. 10.
    Kozak et al.: Static Analysis of Cable-Driven Manipulators with Non-Negligible Cable Mass. IEEE Trans. on Robotics 22(3):425–433 (2006).CrossRefGoogle Scholar
  11. 11.
    Lepidi, M., Gattulli, V.: Static and Dynamic Response of Elastic Suspended Cables with Thermal Effects. Int J Solids Struct 49(9): 1103–1116 (2012).CrossRefGoogle Scholar
  12. 12.
    Merlet, J.-P., dit Sandretto, A.: The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables. In Cable-Driven Parallel Robots: 3–15 (2014) Springer.Google Scholar
  13. 13.
    Nan, R., Peng, B.: A chinese concept for 1km radio telescope. Acta Astronaut 46(10-12): 667–675 (2000).Google Scholar
  14. 14.
    Ottaviano, E., Gattulli, V., Potenza, F.: Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots. Advances in Robot Kinematics 4:351–359 (2018).Google Scholar
  15. 15.
    Pott, A, Tempel, P.: A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy. Advances in Robot Kinematics 8:401–409 (2019).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Erika Ottaviano
    • 1
    Email author
  • Andrea Arena
    • 2
  • Vincenzo Gattulli
    • 2
  • Francesco Potenza
    • 3
  1. 1.University of Cassino and Southern Lazio, Department of Civil and Mechanical EngineeringCassinoItaly
  2. 2.Sapienza University of Rome, Department of Structural and Geotechnical EngineeringRomeItaly
  3. 3.University of L’Aquila, Department of Civil Architectural and Environmental EngineeringL’AquilaItaly

Personalised recommendations