Hostname: page-component-54dcc4c588-54gsr Total loading time: 0 Render date: 2025-09-12T16:59:13.644Z Has data issue: false hasContentIssue false
  • English
  • Français

Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration

Published online by Cambridge University Press:  16 March 2021

Rajesh Kumar Open the ORCID record for Rajesh Kumar [Opens in a new window]  and
Sudipto Mukherjee
Rajesh Kumar*
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, II-420, Mechatronics Lab, Delhi 110016, India E-mail: sudipto@mech.iitd.ac.in
Sudipto Mukherjee
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, II-420, Mechatronics Lab, Delhi 110016, India E-mail: sudipto@mech.iitd.ac.in
*
*Corresponding author. E-mail: rajeshkr96@gmail.com
Get access Rights & Permissions [Opens in a new window]

Summary

Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have traditional limitations. This paper analyzes and generates manipulator configurations that reduce the effect of these two essential hindrances of deploying CDPMs. A methodology, inspired by rigid body dynamics of multiple contact problems, used to optimize the positions of attachment points, is shown to be effective.

Information

Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2153 - 2171
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Pott, A., Cable-Driven Parallel Robots: Theory and Application (Springer, New York, NY, USA, 2018).CrossRefGoogle Scholar
Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P. and Verl, A., “IPAnema: A family of cable-driven parallel robots for industrial applications,” Mech. Mach. Sci. 12, 119–134 (2012).CrossRefGoogle Scholar
Qian, S., Zi, B., Shang, W. W. and Xu, Q. S., “A review on cable-driven parallel robots,” Chinese J. Mech. Eng. 31, 1–11 (2018), Article No. 66.CrossRefGoogle Scholar
James, A., Roger, B. and Nicholas, D., “The NIST robocrane,” J. Rob. Syst. 10(5), 709–724 (1993).Google Scholar
Sousa, J. P., Palop, C. G., Moreira, E., Pinto, A. M., Lima, J., Costa, P., Costa, P., Veiga, G. and Moreira, A. P., “The SPIDERobot: A Cable-Robot System for On-Site Construction in Architecture,” In: Robotic Fabrication in Architecture, Art and Design (2016) pp. 230–239.Google Scholar
Bruckmann, T., Mattern, H., Spengler, A., Reichert, C., Malkwitz, A. and König, M., “Automated Construction of Masonry Buildings Using Cable-Driven Parallel Robots,” ISARC-Proceedings of the International Symposium on Automation and Robotics in Construction (33) (2016).10.22260/ISARC2016/0041CrossRefGoogle Scholar
Rosati, G., Gallina, P. and Masiero, S., “Design, implementation and clinical tests of a wire-based robot for neurorehabilitation,” IEEE Trans. Neural Syst. Rehabilit. Eng. 15(4), 560–569 (2007).CrossRefGoogle ScholarPubMed
Chen, Q., Zi, B., Sun, Z., Li, Y. and Xu, Q., “Design and development of a new cable-driven parallel robot for waist rehabilitation,” IEEE/ASME Trans. Mech. 24(4), 1497–1507 (2019).CrossRefGoogle Scholar
Barnett, E. and Gosselin, C., “Large-scale 3D printing with a cable-suspended robot,” Additive Manuf. 7, 27–44 (2015).10.1016/j.addma.2015.05.001CrossRefGoogle Scholar
Izard, J. B., Dubor, A., Hervé, P.E., Cabay, E., Culla, D., Rodriguez, M. and Barrado, M., “Large-scale 3D printing with cable-driven parallel robots,” Constr. Rob. 1(1), 69–76 (2017).CrossRefGoogle Scholar
Qian, S., Bao, K., Zi, B. and Wang, N., “Kinematic calibration of a cable-driven parallel robot for 3D printing,” Sensors 18(9), 2898 (2018).CrossRefGoogle ScholarPubMed
Vukorep, I., “Autonomous Big-Scale Additive Manufacturing Using Cable-Driven Robots,” ISARC- Proceedings of the International Symposium on Automation and Robotics in Construction (2017).10.22260/ISARC2017/0034CrossRefGoogle Scholar
Bosscher, P., Williams, R. L. and Tummino, M., “A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems,” ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2005) pp. 589–598.Google Scholar
Williams, R. L. II, “Cable-suspended haptic interface,” Int. J. Virtual Reality, 3(3), 13–20 (1998).CrossRefGoogle Scholar
Zitzewitz, J. V., Rauter, G., Steiner, R., Brunschweiler, A. and Riener, R., “A Versatile Wire Robot Concept as a Haptic Interface for Sport Simulation,” IEEE International Conference on Robotics and Automation (2009) pp. 313–318.Google Scholar
Qian, S., Zi, B., Wang, D. and Li, Y., “Development of modular cable-driven parallel robotic systems,” IEEE Access 7, 5541–5553 (2018).CrossRefGoogle Scholar
Brown, G. W., “Suspension system for supporting and conveying equipment, such as a Camera,” U.S. Patent No. 4,710,819 (1987).Google Scholar
Rodnunsky, J. and Bayliss, T., “Aerial cableway and method for filming subjects in Motion,” U. S. Patent No. 5,224,426 (1993).Google Scholar
Shao, Z., Li, T., Tang, X., Tang, L. and Deng, H., “Research on the dynamic trajectory of spatial cable-suspended parallel manipulators with actuation redundancy,” Mechatronics 49, 26–35 (2018).CrossRefGoogle Scholar
Qian, S., Bao, K., Zi, B. and Zhu, W. D., “Dynamic trajectory planning for a three degrees-of-freedom cable-driven parallel robot using quintic B-splines,” J. Mech. Des. 142(7), 073301-1–073301-13 (2020).CrossRefGoogle Scholar
Begey, J., Cuvillon, L., Lesellier, M., Gouttefarde, M. and Gangloff, J., “Dynamic control of parallel robots driven by flexible cables and actuated by position-controlled winches,” IEEE Trans. Rob. 35(1), 286–293 (2018).CrossRefGoogle Scholar
Caverly, R. J. and Forbes, J. R., “Flexible cable-driven parallel manipulator control: Maintaining positive cable tensions,” IEEE Trans. Control Syst. Technol. 26(5), 1874–1883 (2017).Google Scholar
Jamshidifar, H., Khosravani, S., Fidan, B. and Khajepour, A., “Vibration decoupled modeling and robust control of redundant cable-driven parallel robots,” IEEE/ASME Trans. Mechatron. 23(2), 690–701 (2018).CrossRefGoogle Scholar
Mottola, G., Gosselin, C. and Carricato, M., “Dynamically feasible motions of a class of purely-translational cable-suspended parallel robots,” Mech. Mach. Theory 132, 193–206 (2019).CrossRefGoogle Scholar
Lim, W. B., Yang, G., Yeo, S. H. and Mustafa, S. K., “A generic force-closure analysis algorithm for cable-driven parallel manipulators,” Mech. Mach. Theory 46(9), 1265–1275 (2011).CrossRefGoogle Scholar
Oh, S. R. and Agrawal, S. K., “Cable suspended planar robots with redundant cables: Controllers with positive tensions,” IEEE Trans. Rob. 21(3), 457–465 (2005).Google Scholar
Zhang, N., Shang, W. and Cong, S., “Geometry-based trajectory planning of a 3-3 cable-suspended parallel robot,” IEEE Trans. Rob. 33(2), 484–491 (2016).CrossRefGoogle Scholar
Lakshminarayana, K., “Mechanics of Form Closure,” ASME, 78-DET-32 (1978).Google Scholar
Verhoeven, R., Hiller, M. and Tadokoro, S., “Workspace, Stiffness, Singularities, and Classification of Tendon-Driven Stewart Platforms,” In: Advances in Robot Kinematics: Analysis and Control (1998) pp. 105–114.Google Scholar
Azizian, K., Cardou, P. and Moore, B., “Classifying the boundaries of the Wrench-closure workspace of planar parallel cable-driven mechanisms by visual inspection,” ASME J. Mech. Rob. 4(2), 024503 (2012).CrossRefGoogle Scholar
Pham, C., Yeo, S., Yang, G., Kurbanhusen, M. and Chen, I., “Force-closure workspace analysis of cable-driven parallel mechanisms,” Mech. Mach. Theory 41(1), 53–69 (2006).Google Scholar
Bouchard, S., Gosselin, C. and Moore, B., “On the ability of a cable-driven robot to generate a prescribed set of wrenches,” ASME J. Mech. Robot. 2(1), 011010 (2010).CrossRefGoogle Scholar
Bosscher, P., Riechel, A. and Ebert-Uphoff, I., “Wrench-feasible workspace generation for cable-driven robots,” IEEE Trans. Rob. 22(5), 890–902 (2006).CrossRefGoogle Scholar
Gouttefarde, M., Merlet, J. and Daney, D., “Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms,” In: Advances in Robot Kinematics (2006) pp. 315–322.Google Scholar
Tang, X., Wang, W. and Tang, L., “A geometrical workspace calculation method for cable-driven parallel manipulators on minimum tension condition”, Adv. Rob. 30(16), 1061–1071 (2016).CrossRefGoogle Scholar
Pusey, J. L., Fattah, A., Agrawal, S., Messina, E. and Jacoff, A., “Design and workspace analysis of a 6–6 cable-suspended parallel robot,” Mech. Mach. Theory 39(7), 761–778 (2004).CrossRefGoogle Scholar
Ouyang, B. and Shang, W., “Wrench-feasible workspace based optimization of the fixed and moving platforms for cable-driven parallel manipulators,” Rob. Comput. Integr. Manuf. 30(6), 629–635 (2014).CrossRefGoogle Scholar
Hernandez, E. E., Valdez, S. I., Ceccarelli, M., Hernandez, A. and Botello, S., “Design optimization of a cable-based parallel tracking system by using evolutionary algorithms,” Robotica 33(3), 599–610 (2015).10.1017/S0263574714000484CrossRefGoogle Scholar
Hay, A. M. and Snyman, J. A., “Optimization of a planar tendon-driven parallel manipulator for a maximal dextrous workspace,” Eng. Optim. 37(3), 217–236 (2005).CrossRefGoogle Scholar
Azizian, K. and Cardou, P., “The dimensional synthesis of planar parallel cable-driven mechanisms through convex relaxations,” J. Mech. Rob. 4(3), 031011 (2012).CrossRefGoogle Scholar
Pham, C. B., Yeo, S. H. and Yang, G., “Workspace Analysis and Optimal Design of Cable-Driven Planar Parallel Manipulators,” IEEE Conference on Robotics, Automation and Mechatronics, vol. 1, (2004) pp. 219–224.Google Scholar
Azizian, K. and Cardou, P., “The dimensional synthesis of planar parallel cable-driven mechanisms through convex relaxations,” J. Mech. Rob. 4(3), 031011 (2012).CrossRefGoogle Scholar
Azizian, K. and Cardou, P., “The dimensional synthesis of spatial cable-driven parallel mechanisms,” J. Mech. Rob. 5(4), 044502 (2013).CrossRefGoogle Scholar
Gouttefarde, M., Krut, S., Company, O., Pierrot, F. and Ramdani, N., “On the Design of Fully Constrained Parallel Cable-Driven Robots,” In: Advances in Robot Kinematics (ARK) (2008) pp. 71–78.Google Scholar
Hamida, I., Laribi, M., Mlika, A., Romdhane, L., Zeghloul, S. and Carbone, G., “Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks,” Mech. Mach. Theory 156, 104141 (2021).Google Scholar
Diao, X., “Singularity Analysis of Fully-Constrained Cable-Driven Parallel Robots with Seven Cables,” IEEE International Conference on Mechatronics and Automation (ICMA) (2015).CrossRefGoogle Scholar
Kawamura, S., Kino, H. and Won, C., “High-speed manipulation by using parallel wire-driven robots,” Robotica 18(1), 13–21 (2000).CrossRefGoogle Scholar
Lim, W., Yang, G., Yeo, S., Mustafa, S. and Chen, I., “A Generic Tension-Closure Analysis Method for Fully-Constrained Cable-Driven Parallel Manipulators,” 2009 IEEE International Conference on Robotics and Automation (2009).CrossRefGoogle Scholar
Dimentberg, F., The Screw Calculus and its Applications in Mechanics (Foreign Technology Div Wright-Pattersonafb, OH, 1968).Google Scholar
Miermeister, P., Lächele, M., Boss, R., Masone, C., Schenk, C., Tesch, J., Kerger, M., Teufel, H., Pott, A. and Bülthoff, H. H., “The Cablerobot Simulator Large Scale Motion Platform Based on Cable Robot Technology,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016) pp. 3024–3029.Google Scholar
Deter, T., Malczyk, A. and Kuehn, M., “Validation of a Seat-Dummy Simulation Model for Rear-Impact,” 20th International Technical Conference on the Enhanced Safety of Vehicles Conference (ESV) (2007).Google Scholar
Tempel, P., Herve, P. E., Tempier, O., Gouttefarde, M. and Pott, A., “Estimating Inertial Parameters of Suspended Cable-Driven Parallel Robots—Use Case on CoGiRo,” 2017 IEEE International Conference on Robotics and Automation (ICRA) (2017).CrossRefGoogle Scholar
Sreenivasan, S., Waldron, K. and Mukherjee, S., “Globally optimal force allocation in active mechanisms with four frictional contacts,” AMSE J. Mech. Des. 118(3), 353 (1996).CrossRefGoogle Scholar
Usher, K., Winstanley, G. and Carnie, R., “Air Vehicle Simulator: An Application for a Cable Array Robot,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation (2005).Google Scholar
Kljuno, E. and Williams, R., “Vehicle simulation system: Controls and virtual-reality-based dynamics simulation,” J. Intell. Rob. Syst. 52(1), 79–99 (2008).10.1007/s10846-008-9204-yCrossRefGoogle Scholar
Motion Systems for a wide range of payload applications, http://www.moog.com/content/dam/moog/literature/ICD/Moog-Simulation-Motion_Systems-en.pdf, last modified 2015, accessed June 10, 2017.Google Scholar
Kumar, V. and Waldron, K. J., “Force distribution in closed kinematic chains,” IEEE J. Rob. Autom. 4(6), 657–664 (1988).CrossRefGoogle Scholar
Zou, Y., Zhang, Y. and Zhang, Y., “On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry,” ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (American Society of Mechanical Engineers, 2012).Google Scholar
Zuo, B. R. and Qian, W. H., “On the equivalence of internal and interaction forces in multifingered grasping,” IEEE Trans. Rob. Autom. 15(5), 934–941 (1999).Google Scholar