Abstract
The article presents development of an eight-wire passively driven parallel manipulator and discusses its workspace and stiffness behaviour. The uniqueness is in the passively driven design. The device can be used in biomechanics study of human movements and for calibration of manipulator arms, among many others. Manipulator kinematics and the force closure workspace (with inextensible wires) are analysed. A procedure is presented to numerically determine the workspace. Task space stiffness at end effector is examined through a stiffness tensor for directional stiffness behaviour in the workspace. A stiffness index characterizes the degree of isotropy of the stiffness. Experimental validation of forward kinematics and simulation results of force closure workspace and stiffness behaviour of actuated manipulator are reported.
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
C. Gosselin, Cable-driven parallel mechanisms: state of the art and perspectives. Mech. Eng. R. Bull. Jpn. Soc. Mech. Eng. 1(1) (2014)
C. Pham, S. Yeo, S. Mustafa, G. Yang, I. Chen, Force-closure workspace analysis of cable-driven parallel mechanisms. Mech. Mach. Theory 53–69 (2006)
M. Gouttefarde, M. Gosselin, Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Robot. 22, 434–445 (2006)
X. Diao, O. Ma, Force-closure analysis of 6-dof cable manipulators with seven or more cables. Robotica 27, 209–215 (2009)
J. Merlet, Wire-driven parallel robot: open issues, in Romansy 19 Robot Design, Dynamics and Control, ed. by V. Padois, P. Bidaud, O. Khatib. CISM International Centre for Mechanical Sciences, vol. 544 (Springer, 2013)
S. Behzadipour, A. Khajepour, Stiffness of cable-based parallel manipulators with application to stability analysis. J. Mech. Des. 128(6), 303–310 (2006)
R. Murray, Z. Li, S. Sastry, A Mathematical Introduction to Robotic Manipulation (CRC Press, Boca Raton, FL, 1994)
J.P. Merlet, On the redundancy of cable-driven parallel robots, in 5th European Conferences on Mechanism Science (Eucomes), Guimares, 16–19 Sept 2014, pp. 31–39
K. Madsen, H. Nielsen, O. Tingleff, Methods for Non-linear Least Squares Problems, 2nd edn. Technical University of Denmark: Informatics and Mathematical Modelling (2004)
A. Pott, An algorithm for real-time forward kinematics of cable-driven parallel robots, in Advances in Robot Kinematics: motion in man and machine, (Springer, 2010), pp. 529–538
O. Ma, J. Angeles, Architecture singularities of platform manipulators. Int. J. Robot. Autom. 7(1), 23–29 (1992)
P. Shinde, S. Sen, S.N. Shome, Task space stiffness analysis of wire driven parallel manipulator, in IEEE 1st International Conference on Electronics, Materials Engineering and Nano-Technology, (IEMENTech), Kolkata, 28–29 April 2017, https://doi.org/10.1109/IEMENTECH.2017.8077014
Acknowledgements
The work has been done under the activities of the Network project ESC-0113 (CSIR, Govt. of India) and the DST (Govt. of India) sponsored project GAP-152812, both being carried out in CSIR-CMERI, Durgapur, India.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Shinde, P.V., Sen, S., Saha, P., Singhal, D. (2019). An Eight-Wire Passively Driven Parallel Manipulator: Development and Analysis. In: Badodkar, D., Dwarakanath, T. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8597-0_35
Download citation
DOI: https://doi.org/10.1007/978-981-10-8597-0_35
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-8596-3
Online ISBN: 978-981-10-8597-0
eBook Packages: EngineeringEngineering (R0)