Abstract
Cable driven parallel robots (CDPRs) have large workspace and versatile layouts which make them an interesting solution for high speed manipulation tasks. On the other hand, the available wrench set varies widely among the workspace, thus hardly affecting the performance of the system. For this reason, trajectory planning is a crucial aspect in CDPRs, and motion performance can be optimized only by considering the variability of wrench all along the path. In this paper, an optimized trajectory planning algorithm for CDPRs is proposed, which implements a pick and place task in the operational space. The algorithm, based on the calculation of the effective wrench capabilities of the robot in a set of control points along the path, allows to find the trajectory with the optimal trade-off between movement time and smoothness. The algorithm was tested in the case of an under-constrained suspended CDPR with 3-DOF and 4 cables conceived for pick and place applications. Results show that the optimal trajectory allows the CDPR to achieve values of acceleration and velocity near to the maximum allowable values defined by the polytopes of the CDPR.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Boschetti G, Caracciolo R, Richiedei D, Trevisani A (2014) Moving the suspended load of an overhead crane along a pre-specified path: a non-time based approach. Robot Comput-Integr Manuf 30(3):256–264
Boschetti G, Trevisani A (2014) Performance evaluation for cable direct driven robot. In: ASME 2014 12th Biennial conference on engineering systems design and analysis, pp V003T17A014–V003T17A014. American Society of Mechanical Engineers
Fahham HR, Farid M, Khooran M (2011) Time optimal trajectory tracking of redundant planar cable-suspended robots considering both tension and velocity constraints. J Dyn Syst Meas Control 133(1):011004
Gallina P, Rosati G (2002) Manipulability of a planar wire driven haptic device. Mech Mach Theory 37(2):215–228
Gasparetto A, Zanotto V (2008) A technique for time-jerk optimal planning of robot trajectories. Robot Comput-Integr Manuf 24(3):415–426
Gasparetto A, Zanotto V (2010) Optimal trajectory planning for industrial robots. Adv Eng Softw 41(4):548–556
Gosselin C (2014) Cable-driven parallel mechanisms: state of the art and perspectives. Mech Eng Rev 1(1):1–17
Holland CS, Cannon DJ (2004) Cable array robot for material handling. US Patent 6,826,452
Izard JB, Gouttefarde M, Michelin M, Tempier O, Baradat C (2013) A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing. In: Cable-driven parallel robots, pp 135–148. Springer
Krut S, Pierrot F et al (2004) Velocity performance indices for parallel mechanisms with actuation redundancy. Robotica 22(02):129–139
Mustafa SK, Lim WB, Yang G, Yeo SH, Lin W, Agrawal SK (2015) Cable-driven robots. Handbook of manufacturing engineering and technology
Nguyen DQ, Gouttefarde M, Company O, Pierrot F (2014) On the analysis of large-dimension reconfigurable suspended cable-driven parallel robots. In: 2014 IEEE international conference on robotics and automation (ICRA), pp 5728–5735. IEEE
Pott A, Meyer C, Verl A (2010) Large-scale assembly of solar power plants with parallel cable robots. In: 2010 41st international symposium on and 2010 6th German conference on robotics (ROBOTIK) robotics (ISR), pp 1–6. VDE
Rosati G, Zanotto D, Agrawal SK (2011) On the design of adaptive cable-driven systems. J Mech Robot 3(2):021004
Rosati G, Zanotto D, Rossi A (2008) Performance assessment of a 3d cable-driven haptic device. In: ASME 2008 international mechanical engineering congress and exposition, pp 597–606. American Society of Mechanical Engineers
Shen Y, Osumi H, Arai T (1994) Set of manipulating forces in wire driven systems. In: Intelligent robots and systems’ 94’. Advanced robotic systems and the real world’. IROS’94. Proceedings of the IEEE/RSJ/GI international conference on, vol 3, pp 1626–1631
Zanotto D, Rosati G, Minto S, Rossi A (2014) Sophia-3: a semi-adaptive cable-driven rehabilitation device with tilting working plane. IEEE Trans Robot 30(4):974–979
Zhang N, Shang W (2016) Dynamic trajectory planning of a 3-dof under-constrained cable-driven parallel robot. Mech Mach Theory 98:21–35
Acknowledgments
This work was supported by the Italian Ministry of University and Research (MIUR), call PRIN 2012, grant no. 20124SMZ88.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Barbazza, L., Oscari, F., Minto, S., Rosati, G. (2017). Optimized Trajectory Planning of Pick and Place Operations to Be Performed by Cable-Driven Parallel Robots. In: Boschetti, G., Gasparetto, A. (eds) Advances in Italian Mechanism Science. Mechanisms and Machine Science, vol 47. Springer, Cham. https://doi.org/10.1007/978-3-319-48375-7_31
Download citation
DOI: https://doi.org/10.1007/978-3-319-48375-7_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48374-0
Online ISBN: 978-3-319-48375-7
eBook Packages: EngineeringEngineering (R0)