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Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 12))

Abstract

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may be used to efficiently design different parallel mechanisms, and cable driven robots. By this measure, and for parallel manipulators, it is possible to visualize constant orientation workspace of the mechanism where the kinematic sensitivity is less than a desired value considered by the designer. For cable driven redundant robots, the controllable workspace is combined with the desired kinematic sensitivity property, to determine the so-called feasible kinematic sensitivity workspace of the robot. Three case studies are considered for the development of the idea and verification of the results, through which a conventional planar parallel manipulator, a redundant one and a cable driven robot is examined in detail. Finally, the paper provides some hints for the optimum design of the mechanisms under study by introducing the concept of minimum feasible kinematic sensitivity covering the whole workspace.

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Notes

  1. 1.

    Here and throughout this paper, R and P stands respectively for a revolute and prismatic joint where the underlined joint is actuated.

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Authors and Affiliations

  1. Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, 16315-1355 , Tehran, Iran

    Seyed Ahmad Khalilpour, Azadeh Zarif Loloei & Hamid D. Taghirad

  2. Faculty of Modern Science and New Technology, University of Tehran, Tehran, Iran

    Mehdi Tale Masouleh

Authors
  1. Seyed Ahmad Khalilpour
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  2. Azadeh Zarif Loloei
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  3. Hamid D. Taghirad
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  4. Mehdi Tale Masouleh
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Corresponding author

Correspondence to Seyed Ahmad Khalilpour .

Editor information

Editors and Affiliations

  1. Universität Duisburg-Essen, Lotharstraße 1, Duisburg, 47057, Germany

    Tobias Bruckmann

  2. technik und Automatisierung IPA, Fraunhofer-Institut für Produktions-, Nobelstr 12, Stuttgart, 70569, Germany

    Andreas Pott

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Khalilpour, S.A., Loloei, A.Z., Taghirad, H.D., Masouleh, M.T. (2013). Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis. In: Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31988-4_15

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  • DOI: https://doi.org/10.1007/978-3-642-31988-4_15

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31987-7

  • Online ISBN: 978-3-642-31988-4

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