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Cable-Driven Parallel Robots pp 117–127Cite as

Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel Robot

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 53))

Abstract

Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that have the particularity of using cables as legs. CDPRs have several advantages such as large workspaces, high acceleration and high payload capacity. However, CDPRs present also some drawbacks such as the possible collisions between their cables and environment. Therefore, this paper is about the geometric determination of the cable-cylinder interference regions in the workspace of a CDPR. The cables are considered massless and straight. Then, the boundaries of the interference regions onto the cylinder form a closed loop composed of arcs and straight line segments that can be expressed symbolically. Those geometric entities generate truncated cones and planes corresponding to the boundaries of the volume of interferences. Finally, a methodology is described to trace the cable-cylinder interference free constant orientation workspace of CDPRs.

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Notes

  1. 1.

    The cross-product matrix \(\mathbf {Y}\) of \(\mathbf {y}\) is defined as \(\delta (\mathbf {y}\times \mathbf {x})\setminus \delta \mathbf {x}\) for any \(\mathbf {x}, \mathbf {y} \in \mathbb {R}^3\)

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Acknowledgements

The financial support of the RFI ATLANSTIC 2020 CREATOR project is greatly acknowledged.

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Authors and Affiliations

  1. École Centrale de Nantes–Laboratoire des Sciences du Numérique de Nantes, 1, Rue de la Noë, BP 92101, 44321, Nantes Cedex 3, France

    Antoine Martin

  2. CNRS–Laboratoire des Sciences du Numérique de Nantes, 1, Rue de la Noë, BP 92101, 44321, Nantes Cedex 3, France

    Stéphane Caro

  3. Université Laval, 1065 Avenue de la M édecine Québec, Québec, G1V 0A6, Canada

    Philippe Cardou

Authors
  1. Antoine Martin
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  2. Stéphane Caro
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  3. Philippe Cardou
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Corresponding author

Correspondence to Stéphane Caro .

Editor information

Editors and Affiliations

  1. Fac. Sciences et de Génie, Université Laval, Quebec City, Québec, Canada

    Clément Gosselin

  2. Mechanical Engineering, Université Laval, Quebec City, Québec, Canada

    Philippe Cardou

  3. Chair for Mechatronics, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Tobias Bruckmann

  4. Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart, Baden-Württemberg, Germany

    Andreas Pott

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Martin, A., Caro, S., Cardou, P. (2018). Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel Robot. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_11

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  • DOI: https://doi.org/10.1007/978-3-319-61431-1_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61430-4

  • Online ISBN: 978-3-319-61431-1

  • eBook Packages: EngineeringEngineering (R0)

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