Skip to main content
SpringerLink
Log in

Actuator Design for Stabilizing Single Tendon Platforms

  • Conference paper
  • First Online:
New Advances in Mechanisms, Mechanical Transmissions and Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 46))

Abstract

In this paper we illustrate the feasibility of using control moment gyroscopes (CMGs) for the stabilization of free swinging robots hanging from single tendons. Such systems may provide robotic workspaces of unprecedented size, especially in the vertical. Taking typical base reaction forces of industrial robots we show that control moment gyroscopes may provide means for compensation. From the basic principles of CMGs we derive design criteria for a free swinging robot platform. These criteria are illustrated in the design of a scissored pair CMG for a single DoF demonstrator.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Bruckmann, T.: Auslegung und Betrieb redundanter paralleler Seilroboter. Ph.D. thesis, Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften Maschinenbau und Verfahrenstechnik Institut für Mechatronik und Systemdynamik (2010)

    Google Scholar 

  2. Carpenter, M.D., Peck, M.: Others: reducing base reactions with gyroscopic actuation of space-robotic systems. IEEE Trans. Rob. 25(6), 1262–1270 (2009)

    Article  Google Scholar 

  3. Chiu, J., Goswami, A.: Design of a wearable scissored-pair control moment gyroscope (SP-CMG) for human balance assist. In: 38th Mechanisms and Robotics Conference, vol. 5A, p. V05AT08A023. ASME (2014). doi:10.1115/DETC2014-35539

  4. Gagne, J., Laroche, E., Piccin, O., Gangloff, J.: Active heart stabilization using adaptive noise cancelling techniques with gyroscopic actuation. In: 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 802–807. IEEE (2010)

    Google Scholar 

  5. Grossman, L.: 7 Questions with Randall Munroe (2015). http://time.com/4116921/randall-munroe-draws-his-own-conclusions/

  6. Kim, D.K.Y., Bretney, K., Shao, A., Tsang, A.L.: Electronic control system for gyroscopic stabilized vehicle (2013). U.S. Classification 701/124, 446/468, 446/440, 180/252; International Classification G06F17/10, A63H17/36, B60K17/30, G06G7/48, A63H17/00; Cooperative Classification B62K11/00, B62D37/06, B62D61/02, B62K2204/00, B62J17/08, B62J27/00, B62M7/12, B62K3/007

    Google Scholar 

  7. Leve, F.A., Hamilton, B.J., Peck, M.A.: Spacecraft Momentum Control Systems, vol. 1010. Springer (2015)

    Google Scholar 

  8. Li, Z., Liu, H., Wang, B.: Motion planning and coordination control of space robot using methods of calculated momentum. In: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1151–1156. IEEE (2013)

    Google Scholar 

  9. Mitsushige, O.: Motion control of the satellite mounted robot arm which assures satellite attitude stability. Acta Astronaut. 41(11), 739–750 (1997)

    Article  Google Scholar 

  10. Quinn, R.D., Chen, J.L., Lawrence, C.: Base reaction control for space-based robots operating in microgravity environment. J. Guidance Control Dyn. 17(2), 263–270 (1994)

    Article  Google Scholar 

  11. Thornton, B., Ura, T., Nose, Y., Turnock, S.: Internal actuation of underwater robots using control moment gyros. In: Oceans 2005-Europe, vol. 1, pp. 591–598. IEEE (2005)

    Google Scholar 

  12. Verhoeven, R.: Analysis of the workspace of tendon-based Stewart platforms. Ph.D. thesis, Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften Maschinenbau und Verfahrenstechnik (2004)

    Google Scholar 

  13. Whitsett Jr., C., Cramer, P.: An experimental investigation of attitude control systems for astronaut maneuvering units. AIAA Paper, pp. 73–250 (1973)

    Google Scholar 

  14. Yime, E., Quintero, J., Saltaren, R., Aracil, R.: A new approach to avoid internal singularities in CMG with pyramidal shape using sliding control. In: 2009 European Control Conference (ECC), pp. 3899–3903. IEEE (2009)

    Google Scholar 

  15. Yoshida, K., Hashizume, K., Abiko, S.: Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm. In: IEEE International Conference on Robotics and Automation, 2001, Proceedings 2001 ICRA, vol. 1, pp. 441–446. IEEE (2001)

    Google Scholar 

  16. Yoshida, K., Kurazume, R., Umetani, Y.: Dual arm coordination in space free-flying robot. In: IEEE International Conference on Robotics and Automation, 1991. 1991, Proceedings, pp. 2516–2521. IEEE (1991)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Chair for Individualized Building Production, RWTH Aachen University, Aachen, Germany

    D. Haarhoff & S. Brell-Cokcan

  2. Institute of Automatic Control, RWTH Aachen University, Aachen, Germany

    M. Kolditz & D. Abel

Authors
  1. D. Haarhoff
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. M. Kolditz
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. D. Abel
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. S. Brell-Cokcan
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to D. Haarhoff .

Editor information

Editors and Affiliations

  1. RWTH Aachen University, Aachen, Germany

    Burkhard Corves

  2. University Politehnica of Timisoara , Timisoara, Romania

    Erwin-Christian Lovasz

  3. RWTH Aachen University Dept of Mechanism Theory, Aachen, Nordrhein-Westfalen, Germany

    Mathias Hüsing

  4. University Politehnica of Timisoara , Timisoara, Romania

    Inocentiu Maniu

  5. University Politehnica of Timisoara, Timisoara, Romania

    Corina Gruescu

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Haarhoff, D., Kolditz, M., Abel, D., Brell-Cokcan, S. (2017). Actuator Design for Stabilizing Single Tendon Platforms. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_37

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-45450-4_37

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-45449-8

  • Online ISBN: 978-3-319-45450-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation