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Trajectory planning of a suspended cable driven parallel robot with reconfigurable end effector

robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2017年 48卷 1-11页

作者： Barbazza, L. Oscari, F. Minto, S. Rosati, G. Univ Padua Dept Management & Engn Via Venezia 1 I-35131 Padua Italy

In this paper, a new suspended cable driven parallel robot (CDPR) with reconfigurable end effector is presented. This robot has been conceived for pick and place operations in industrial environments. For such applications, the possibility to change the configuration of the cables at the end-effector level is a promising way to avoid collisions with obstacles in the approaching phases, while reducing at the same time the duration of motion in the remaining part of the trajectory. An optimized trajectory planning algorithm is proposed, which implements a pick and place operation in the operational space with dynamic on-line reconfiguration of the end effector. The results on a simplified scenario demonstrate the ability of the system to obtain reduced movement times together with obstacle avoidance.

关键词： cable driven parallel robot Reconfigurability Optimization Trajectory planning

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Multi-Objective Optimization Design of cable driven parallel robot Based on Aircraft Spraying 9

Multi-Objective Optimization Design of Cable Driven Parallel...

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9th International Conference on Automation, Control and robotics Engineering (CACRE)

作者： Yang, Zonghui Liu, Ting Jiao, Sen Chang, Xudong Jilin Inst Chem Technol Coll Informat & Control Engn Jilin Jilin Peoples R China Jilin Inst Chem Technol Coll Aerosp Engn Jilin Jilin Peoples R China

ISBN: (纸本)9798350350319;9798350350302

This article focuses on the cable driven parallel robot for aircraft spraying. Based on a multi-objective optimization model, the performance of the cable driven parallel robot (CDPR) is optimized using Prairie Dogs optimization algorithm. Firstly, a static model of 8-cable 6-degree- of-freedom CDPR suitable for aircraft spraying was established, and corresponding evaluation indicators were designed for four performance indicators: workspace, average stiffness, stiffness fluctuation, and flexibility. Establish a multi- objective optimization model by processing performance indicators and solve it using the Prairie Dogs optimization algorithm. The final results indicate that the groundhog optimization algorithm based on multi-objective optimization design has a good effect on the performance optimization of CDPR, providing important reference for the design and optimization of aircraft spraying robots. This study has important theoretical and practical significance in the field of aircraft spraying robots, providing new ideas and methods for optimizing robot performance, and has certain guiding significance for engineering practice.

关键词： cable driven parallel robot multi-objective optimization design average stiffness workspace stiffness fluctuation flexibility Prairie Dogs optimization algorithm

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DESIGN OF DETACHABLE WINCH SYSTEM FOR FIELD-DEPLOYABLE cable driven parallel robot

DESIGN OF DETACHABLE WINCH SYSTEM FOR FIELD-DEPLOYABLE CABLE...

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ASME International Design Engineering Technical Conferences / 43rd Annual Computers and Information in Engineering Conference (IDETC-CIE) / 47th Mechanisms and robotics Conference (MR)

作者： Guevara, Arely Flores Marshall, Matthew Q. Kennesaw State Univ Kennesaw GA 30144 USA

ISBN: (纸本)9780791887363

This paper describes a mobile cable driven parallel robot that can be temporarily mounted on existing structures like lamp posts or trees. Existing works have introduced various concepts for mobile cable driven parallel robots and analyzed some of their characteristics like workspace. The proposed robots require either heavy equipment like truck-mounted telescoping poles, or deformative installation techniques like using concrete anchors in existing structures. Those works ignored the design of the hardware to which the winches would be attached. The present article is the first describing the design of a winch system and its attachment method for an ultra-portable cable driven parallel robot, one that can be quickly mounted and unmounted from existing structures. A novel application for robotics is selected as a case study and relevant performance goals drive the design of a mountable cable driven parallel robot winch. The design is fabricated and shown in the field. The prototype mounts to trees in such a way that the growth of the tree is not inhibited. This is achieved by using nylon ratchet straps to affix the robot winches. This design represents an extremely low-cost and portable approach to cable driven parallel robots because no structure needs to be constructed.

关键词： cable driven parallel robot litter waterway cleanup deployable robot

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Three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot with non-negligible cable mass and elasticity

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MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES 2018年第4期46卷 455-482页

作者： Amare, Zemichael Zi, Bin Qian, Sen Du, Jingli Ge, Q. J. Hefei Univ Technol Sch Mech Engn Hefei 230009 Anhui Peoples R China Xidian Univ Minist Educ Key Lab Elect Equipment Struct Design Xian Shanxi Peoples R China SUNY Stony Brook Dept Mech Engn Stony Brook NY 11794 USA

This study investigates the three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot by considering cable mass, elasticity, and mass of end-effector. According to these models, optimization of cable tensions and cable lengths using fminimax solver is performed to determine the static stiffness. Static and dynamic stiffness of the cables are obtained with simulations. Results show that analyses in three-dimension are very important to measure the actual performance of the cable driven parallel robot. This demonstrates potential for general applicability and motion of the cable driven parallel robot.

关键词： cable driven parallel robot optimization static and dynamic stiffness three-dimensional inclined cable

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Structural Analysis and Position Control for a High Payload Logistics cable driven parallel robot

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TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A 2022年第11期46卷 995-1002页

作者： Ha, Sung-Hoon Kim, Min-Cheol Piao, Jinlong Park, Bae-Jeong Lee, Kwangmin Kim, Chang-Sei Chonnam Natl Univ Sch Mech Engn Gwangju South Korea Hyundai EDS Seoul South Korea

Recently, unmanned automated logistics robot systems have been widely researched owing to the decrease in manpower and difficulties in handling numerous logistics. A cable-driven parallel robot (CDPR) has the benefits of a large workspace, heavy payload, high repetition accuracy, and fast speed;therefore, it can be used as a robotic system suitable for smart logistics warehouses. However, establishing a CDPR that can handle more than 1-ton of cargo is challenging. Therefore, this paper presents the safety design for reducing the stress moment of the pulley, winch, and frame, which are components of the CDPR system, for handling high payload cargo and position control. Consequently, the developed system achieved a speed of 1.65 m/s and repeat accuracy of 0.73 mm with an accuracy of 3.53 mm. This demonstrates the possibility of a high-payload logistics CDPR.

关键词： cable driven parallel robot Structural Analysis Safety Design robot Control

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Robust PID control of fully-constrained cable driven parallel robots

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MECHATRONICS 2014年第2期24卷 87-97页

作者： Khosravi, Mohammad A. Taghirad, Hamid D. KN Toosi Univ Technol Fac Elect & Comp Engn ICCE Tehran Iran

In this paper dynamic analysis and robust PID control of fully-constrained cable driven parallel manipulators are studied in detail. Since in this class of manipulators cables should remain in tension for all maneuvers in their workspace, feedback control of such robots becomes more challenging than that of conventional parallel robots. In this paper, structured and unstructured uncertainties in dynamics of the robot are considered and a robust PID controller is proposed for the cable robot. To ensure that all cables remain in tension internal force concept is used in the proposed PID control algorithm. Then, robust stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov direct method and it is shown that by suitable selection of the PID controller gains, the closed-loop system would be robustly stable. Finally, the effectiveness of the proposed PID algorithm is examined through experiments on a planar cable driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： cable driven parallel robot Dynamical uncertainties Robust PID control

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Novel Safety Criterion for Synthesis of cable driven parallel robots

Novel Safety Criterion for Synthesis of Cable Driven Paralle...

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29th International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Ben Hamida, Ines Laribi, Med Amine Mlika, Abdelfattah Romdhane, Lotfi Zeghloul, Said Carbone, Giuseppe Univ Poitiers Pprime Inst Dept GMSC CNRSENSMA UPR 3346 Poitiers France Univ Sousse Natl Engn Sch Sousse Mech Lab Sousse LMS Sousse 4000 Tunisia Amer Univ Sharjah Dept Mech Engn POB 26666 Sharjah U Arab Emirates Univ Calabria Dept Mech Energy & Management Engn I-87036 Arcavacata Di Rende Italy

ISBN: (纸本)9783030489915;9783030489892;9783030489885

This paper deals with the synthesis of a cable driven parallel robot intended for rehabilitation tasks. The objective is essentially to enhance the safety of patients using rehabilitation robotic devices. A novel safety criterion is proposed. It consists in maximizing the distance between the robot's cables and the user. A dimensional synthesis of LAWEX robot considering the proposed safety criterion is carried out and optimal solutions are provided.

关键词： cable driven parallel robot Dimensional synthesis Safety Rehabilitation device

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The integrated elasto-plastic cable modeling for cable driven parallel robots(CDPRs) 17

The integrated elasto-plastic cable modeling for cable drive...

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17th International Conference on Control, Automation and Systems (ICCAS)

作者： Choi, Sung-Hyun Park, Kyoung-Su Gachon Univ Dept Mech Engn Seongnam 1342 South Korea

ISBN: (纸本)9788993215144

cable driven parallel robots (CDPRs) have widely used in many applications because of a lot of advantages such as high accuracy, low inertia and large workspace. Especially, the CDPR have used the Dyneema polymer cable instead of the steel cable for low weight of system. In this paper, the integrated elasto-plastic cable characteristic model for CDPR was proposed and verified by comparing with experimental data. In conclusion, according to the result, the simulation was in a good agreement with experimental data.

关键词： cable driven parallel robot Polymer cable creep hysteresis recovery

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cables Configuration Analysis for a planar CDPR, based on the Lowest Kinematic Energy for a Rotation Movement 4

Cables Configuration Analysis for a planar CDPR, based on th...

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IEEE 4th Colombian Conference on Automatic Control (CCAC) - Automatic Control as Key Support of Industrial Productivity

作者： Carpio, Marco A. Astudillo, Raul E. Aller, Jose M. Saltaren, Roque J. Rodriguez, Alejandro Portilla, Gerardo A. Cely, Juan S. Univ Politecn Salesiana Direcc Elect Cuenca Ecuador Univ Politecn Madrid CSIC Ctr Automat & Robot Madrid Spain

ISBN: (纸本)9781538669624

In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cable driven parallel robots, the energy required for picking up or releasing is directly related to the geometric position of the links between the cables and the final effector. This article evaluates the configuration of a cable driven parallel robot with three degrees of freedom, and a rectangular final effector. For this reason the kinematics are analyzed with a Jacobian matrix using Screws theory considering different linkage points. With the kinetic energy known it is possible to find a proper location guarantying the lowest energy consumption. All calculations are done in a MATLAB and the results are corroborated with the Adams View 2017.2 simulation software.

关键词： cable driven parallel robot Theory of Screws Jacobean Matrix MATLAB Adams View

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Multi-mode Input Shaping for Vibration Suppression of Over-Constrained cable-driven parallel robots with cable Stiffness 7

Multi-mode Input Shaping for Vibration Suppression of Over-C...

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7th International Conference on Mechanical and Aerospace Engineering (ICMAE)

作者： Yoon, Jonghyun Hwang, Sung Wook Bak, Jeong-Hyeon Park, Jong Hyeon Ko, Sung Young Hanayng Univ Dept Mech Engn Seoul South Korea Chonnam Natl Univ Sch Mech Engn Kwangju South Korea

ISBN: (纸本)9781467388290

cable driven parallel robots (CDPRs) are widely used recently. To achieve accurate and fast tracking performance with CDPRs, suppressing vibration is necessary. Input shaping method that cancels vibration by redesigning input can be used, but usual input shaping method is suit to single-mode systems. Multi-mode input shaping method was suggested to make it apply to multi-mode systems. The multi-mode input shaping method is applied to vibration suppression of 2D over-constrained CDPR with cable stiffness in this paper. Performance of this method is confirmed by simulation results and compared with single-mode input shaping method.

关键词： cable driven parallel robot multi-mode input shaping cable stiffness vibration suppression

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