Abstract
A redundant planar three-dof cable-driven parallel robot is proposed and analysis of its cable-configuration is discussed in this paper. Loop cables and constant force springs unlimitedly rotate the endless-pulley which is embedded inside the moving part. The angle of the hand is redundantly given by the sum of the angles of the moving part frame and the endless-pulley. Three-dof hand is controlled by four-dof mechanism using five-cables. This means that the proposed CDPR is a novel cable-driven parallel robot which simultaneously has the kinematic and actuation redundancies. Tactical design and control for the cable-configurations are proposed as the robot satisfies the wrench-closure condition.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Fortin-Côté, A., Céline, F., Bouyer, L., J. McFadyen, B., Mercier, C., Bonenfant, M., Laurendeau, D., Cardou, P., Gosselin, C.: On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis. Cable-Driven Parallel Robots, pp. 390-401. Springer (2017).
Gouttefarde, M., Gosselin, C.: Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms. IEEE TRANSACTIONS ON ROBOTICS, vol. 22, pp. 434-445 (2006).
Makino, T., Harada, T.: Cable collision avoidance of a pulley embedded cable-driven parallel robot by kinematic redundancy. 4th International Conference on Control, Nechatronics and Automation, pp. 117-120, Barcelona (2016).
Marc Arsenault.: Optimization of the prestress stable wrench closure workspace of planar parallel three-degree-of-freedom cable-driven mechanisms with four cables. 2010 IEEE International Conference on Robotics and Automation, pp. 1182-1187, Alaska (2010).
McColl, D., Notash, L.: WORKSPACE ENVELOPE FORMULATION OF PLANAR WIRE-ACTUATED PARALLEL MANIPULATORS. Transactions of the Canadian Society for Mechanical Engineering, vol. 33, No. 4, pp. 547-560 (2009).
Miermeister, P., Pott, A.: Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes. Interdisciolinary Applications of Kinematics, pp. 21-29. Springer (2014).
Pott, A.: Cable-Driven Parallel Robots. Springer (2017).
Pott, A., Kraus, W.: Determination of the Wrench-Closure Translational Workspace in Closed-Form for Cable-Driven Parallel Robots. IEEE International Conference on Robotics and Automation, pp. 882-887, Stockholm (2016).
Seon, J.A., Park, S., Ko, S.Y., Park, J.O.: Cable Configuration Analysis to Increase the Rotational Range of Suspended 6-DOF Cable Driven Parallel Robots. 2016 16th International Conference on Control, Automation and Systems, pp. 1047-1052, Korea (2016).
Sheng, Z., Park, J.P., Stegall, P., Arrawal, S.K.: ANALYTIC DETERMINATION OF WRENCH CLOSURE WORKSPACE OF SPATIAL CABLE DRIVEN PAR-ALLEL MECHANISMS. ASME 2015 International Design Engineering Technical Conference & Computers and Information in Engineering Conference, DETC2015-47976, Boston (2015).
Tadokoro, S., Nishioka, S., Kimura, T., Hattori, M., Takamori, T., Maeda, K.: On fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy. Transactions of the Japan Society of Mechanical Engineers, series C, vol. 66, No. 647, pp. 2247-2254 (2000).
Acknowledgement
This research was supported by JSPS KAKENHI Grant Number 18K04068.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Hirosato, K., Harada, T. (2019). Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_4
Download citation
DOI: https://doi.org/10.1007/978-3-030-20751-9_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20750-2
Online ISBN: 978-3-030-20751-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)