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On the Design of a Three-DOF Cable-Suspended Parallel Robot Based on a Parallelogram Arrangement of the Cables

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Cable-Driven Parallel Robots

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

Abstract

An original design for a cable-suspended mechanism based on six cables, but actuated with three motors, is proposed in this paper. Each pair of cables is wound by a single actuator and their attachment points on the mobile platform and on the fixed base form a parallelogram, so that the orientation of the mobile platform remains constant while performing translational movements. First, the paper presents the architecture of the three-degree-of-freedom (three-DOF) manipulator and its corresponding kinematic equations. Then, the static workspace of the mechanism is determined analytically based on the simplification of the Jacobian matrix for a constant orientation of the mobile platform. Finally, the static workspaces of several cable arrangements are compared in order to assess the capabilities of the presented mechanism. In particular, one configuration of the three-DOF system with crossing cables is studied in more detail.

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Acknowledgements

Comments provided by Xiaoling Jiang and Pascal Dion-Gauvin were much appreciated during the research. This work was supported by The Natural Sciences and Engineering Research Council of Canada (NSERC), by the Fonds de la Recherche du Québec sur la Nature et les Technologies (FRQNT) and by the Canada Research Chair Program.

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Authors and Affiliations

  1. Robotics Laboratory, Department of Mechanical Engineering, Pavillon Adrien-Pouliot, Université Laval, Québec, QC, G1V 0A6, Canada

    Dinh-Son Vu, Eric Barnett, Anne-Marie Zaccarin & Clément Gosselin

Authors
  1. Dinh-Son Vu
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  2. Eric Barnett
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  3. Anne-Marie Zaccarin
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  4. Clément Gosselin
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Corresponding author

Correspondence to Clément Gosselin .

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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Vu, DS., Barnett, E., Zaccarin, AM., Gosselin, C. (2018). On the Design of a Three-DOF Cable-Suspended Parallel Robot Based on a Parallelogram Arrangement of the Cables. 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_27

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  • DOI: https://doi.org/10.1007/978-3-319-61431-1_27

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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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