Cable-Driven Parallel Robots

bfm-978-3-642-31988-4_1......Page 1
Cable-Driven Parallel Robots......Page 2
Committee......Page 4
Preface......Page 5
Introduction of the Honorary Chair......Page 7
Contents......Page 8
1 Introduction......Page 12
2 Robot Architecture......Page 14
3 Kinematic and Dynamic Modelling......Page 15
4 Trajectory Planning......Page 17
4.1 Vertical Oscillations......Page 18
4.2 Horizontal Oscillations Along a Straight Line......Page 19
4.3 Circular Trajectories in a Horizontal Plane......Page 21
4.4 Circular Trajectories in a Vertical Plane......Page 22
4.6 Spatial Spherical Trajectories......Page 23
4.7 Transition Trajectories......Page 24
5 Example Trajectories and Experimental Validation......Page 26
5.1 Horizontal Circular Trajectory......Page 28
6 Conclusion......Page 29
References......Page 30
1 Introduction......Page 32
2 The Studied CDDR......Page 33
3 Computation of Cable Tensions......Page 35
4 Kinematic Constraints to Trajectory Planning......Page 36
4.1 Straight Line Path......Page 37
4.2 Circular Path......Page 38
5 Trajectory Planning with Quintic Polynomials......Page 39
6 The Experimental Setup......Page 40
7 Experimental Results......Page 42
7.1 Test 1 (T1): Straight Line Path......Page 43
8 Conclusions......Page 46
References......Page 48
1 Introduction......Page 49
2 Kinematic and Dynamic modeling......Page 50
3 Formulation of Energy Efficient Problem......Page 52
4 Optimality Equations......Page 53
5 Simulation Studies......Page 55
6 Conclusion......Page 57
References......Page 58
4 Navigating the Wrench-Feasible C-Space  of Cable-Driven Hexapods......Page 60
1 Introduction......Page 61
2 Problem Statement......Page 62
3 Equations of the Wrench-Feasible C-Space......Page 64
4 Exploring M for a Connecting Path......Page 66
5 Experiments......Page 67
6 Conclusions and Future Work......Page 71
References......Page 73
1 Introduction......Page 76
2.1 Mikelsons' Barycenter Approach......Page 78
2.2 Detailed Description of the Proposed Algorithm......Page 80
2.3 Case of Three (Ore More) Concurrent Lines......Page 84
3 ReelAx8 Prototype......Page 86
4 Simulation Results......Page 87
5 Conclusions and Future Works......Page 88
References......Page 89
1 Introduction......Page 91
2.1 Notation......Page 93
2.3 Modelling of Slack Rope......Page 95
3.1 Minimization of the Force Variance......Page 99
3.2 Optimization of Quadratic Program......Page 100
4.1 Description of Mechanism Parameters......Page 101
4.2 Display of Results......Page 103
References......Page 105
1.1 Motivation......Page 107
2.2 Cable Force Distribution......Page 108
2.3 Stiffness......Page 109
3.1 Test Setup......Page 110
3.2 Test Procedure......Page 111
3.3 Experimental Results: Force Distribution......Page 113
3.4 Experimental Results: Deflection of the Endeffector......Page 116
4.1 Effects on Force Control......Page 117
References......Page 118
1 Introduction......Page 120
2.1 System Architecture......Page 122
2.2 Design of Winches......Page 123
2.3 Control Software and Kinematic Transformation......Page 125
2.4 Dynamics Simulation......Page 126
3.2 Robot and End-Effector Design for IPAnema 2......Page 128
3.4 IPAnema 2 Measurement Device......Page 130
4.1 Repeatability......Page 131
4.2 Stiffness Evaluation......Page 132
5 Conclusions......Page 133
References......Page 134
1 Introduction: Previous Art......Page 136
2 Specifications......Page 137
3.1 General Layout......Page 138
3.2 Winches......Page 139
3.3 Output Blocks: Cable Exit Points......Page 141
4.1 ReelAx6: 6 Cable Suspended Triangle Configuration......Page 143
4.2 ReelAx 2D Paint: Redundant Fully Constrained  Planar 2-DOF......Page 144
4.3 Media-TIC: Redundant Fully-Constrained 6-DOF......Page 145
4.4 ReelAx8: CoGiRo......Page 146
4.5 ReelAx8 Light......Page 147
References......Page 148
1 Introduction and Previous Art......Page 150
1.1 Presentation of the Media-TIC Building......Page 152
2 Specification......Page 153
2.2 Workspace Limits......Page 154
2.3 Building Related Constraints......Page 155
2.5 Aesthetic and Conceptual Integration to the Building......Page 156
3.1 General Layout......Page 157
3.3 Control Scheme......Page 159
4 Winches......Page 160
5 Cable Circulation......Page 161
7 Conclusion......Page 163
References......Page 165
11 Use of Passively Guided Deflection Units  and Energy-Storing Elements to Increase  the Application Range of Wire Robots......Page 166
1 Introduction......Page 167
2 Use of Deflection Units: Review and New Concept......Page 168
2.3 Actuated Deflection Units......Page 169
2.4 New Concept: Passively Guided Deflection Units......Page 170
3 Combining Motors and Passive, Energy-Storing Elements......Page 172
3.1 Use of Single Springs or Counterweights......Page 173
3.2 Constant Pre-Tension of Actuation Units......Page 174
3.3 Energy Minimization---Utilization of Eigenmotions......Page 175
4 Conclusion and Outlook......Page 181
References......Page 182
1 Introduction......Page 184
2.1 State of Research......Page 185
2.2 High Strength Fibre Ropes......Page 186
3.1 General......Page 188
3.2 Standard Cyclic Bend Over Sheave Testing (CBOS)......Page 189
3.3 Analysis Methods......Page 191
3.4 Influence of High Accelerations and Velocity on Bending Fatigue Life......Page 192
3.5 Major Trends......Page 193
4 New Test Rig for Bending Fatigue Testing at High Accelerations......Page 194
5 Summary......Page 196
References......Page 197
13 Workspace Improvement of Two-Link Cable-Driven Mechanisms with Spring Cable......Page 199
1 Introduction......Page 200
2 Kinetostatic Modeling of Cable Robots Without Spring......Page 202
3 Kinetostatic Modeling of Cable Robots with Spring......Page 204
4 Method......Page 205
5 Results......Page 206
6 Conclusions......Page 210
References......Page 211
1 Introduction......Page 212
2 Kinetostatic Model......Page 214
3 Verifying Whether a Pose Lies in the WCW of a PCDPM......Page 216
4 Verifying Whether a Box Lies in the Constan-Orientation WCW......Page 217
5.1 A Nonlinear Program for the Constant-Orientations Dimensional Synthesis of PCDPMs......Page 221
5.2 The Dimensional Synthesis of PCDPMs for Different MP Orientations......Page 224
References......Page 226
15 Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis......Page 228
1 Introduction......Page 229
2.1 Interval Analysis......Page 230
3 Investigation of Kinematic Sensitivity of Non-redundant Planar Parallel Mechanisms......Page 231
3.1 Kinematic Sensitivity with --norms on Constraint  and Objective Function......Page 233
3.2 Kinematic Sensitivity with - norm for the Constraint  and 2-norm for the Objective Function......Page 236
4 Investigation of Kinematic Sensitivity of Redundant Robots......Page 237
5 Feasible Kinematic Sensitivity in CDRPMs......Page 239
References......Page 242
1 Introduction......Page 245
2 Interval Analysis......Page 247
3 Geometrico-Static Model......Page 249
3.2 Parameterization of the Platform Pose......Page 250
3.3 Formulation of the Static Constraints......Page 252
4 The Problem-Solving Algorithm......Page 253
4.3 Evaluation Operator......Page 254
4.5 Parallel Implementation......Page 255
4.6 Routine Configuration......Page 256
5.1 Performances and Possible Improvements......Page 257
6 Conclusions......Page 259
References......Page 261
1 Introduction......Page 263
2 Geometrico-Static Model......Page 264
3.1 Number of Solutions in the Complex Field......Page 268
3.2 Least-Degree Univariate Polynomial......Page 269
3.3 Numerical Computation of the Solution Set......Page 272
4 Equilibrium Configurations with Unloaded Cables......Page 275
5 Conclusions......Page 276
References......Page 277
1 Introduction......Page 280
2 Robot Architecture......Page 281
3 Extended Kinematics for Cable Driven Robots......Page 283
4.1 Computation and Convergence......Page 286
4.2 Accuracy and Repeatability......Page 287
5 Conclusion......Page 290
References......Page 291
1.1 Parallel Cable-Driven Robots......Page 292
1.2 Haptic Interface INCA......Page 293
1.3 Problematic and Content of the Paper......Page 294
2.2 Kinematics Modelling......Page 295
2.4 Dynamics Modelling......Page 297
3.1 Kinematic Parameters Identification......Page 300
3.2 Dynamic Parameters Identification......Page 301
4.1 Initial Values of the Parameters......Page 302
4.2 Identification of the Kinematic Parameters......Page 303
4.3 Identification of the Dynamic Parameters......Page 305
5 Conclusion and Perspectives......Page 307
References......Page 308
20 Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots......Page 309
1 Introduction......Page 310
2 Robot Kinematics......Page 311
3 Differential Relations of Kinematic Quantities......Page 312
3.1 Pose Related Derivatives of Robot Kinematics......Page 313
3.2 Parameter Related Derivatives of Robot Kinematics......Page 314
4.1 Pose Related Derivatives of the Force Equations......Page 316
5.1 Forward Kinematics Under the Consideration  of Cable Forces......Page 317
5.2 Calibration......Page 318
5.3 System Stiffness......Page 320
References......Page 322
1 Introduction......Page 324
2.1 Kinematics Analysis......Page 325
2.2 Dynamics Analysis......Page 327
2.3 Overall Robot Dynamics......Page 328
3 Robust PID Control of Cable Driven Robot......Page 329
4.1 Experimental Setup......Page 331
4.3 Results......Page 333
5 Conclusions......Page 336
References......Page 339
1 Introduction......Page 340
2.2 Inverse Rigid Kinematic Model......Page 342
2.3 Direct Flexible Dynamic Model......Page 344
2.4 Open-Loop Behavior......Page 345
3.1 Method......Page 347
3.2 Results......Page 348
4.1 Hinfty Methodology......Page 351
4.2 Controller Synthesis......Page 352
5 Conclusion......Page 353
References......Page 355
1 Introduction......Page 357
2.1 Coordinates......Page 360
2.2 Implicit Constraints......Page 362
2.3 Kinematic Redundancy and Output Variables......Page 363
2.4 Dynamic Equations......Page 364
3.1 Generalized Inverse Kinematics......Page 365
3.2 Inverse Dynamics......Page 366
4.1 Linearized Sway Motion Model......Page 367
4.2 Kinematic Measurement Model......Page 368
4.3 Linear State-Space Controller......Page 369
5 Experimental Result......Page 370
6 Conclusion......Page 371
References......Page 372
24 Geometric Stiffness Analysis of Wire Robots:  A Mechanical Approach......Page 373
1 Introduction......Page 374
2 Kinematic Analysis......Page 375
3 Wire-Robot Jacobian and Its Time-Derivative......Page 378
4 Structural and Geometric-Stiffness Matrices......Page 379
6 Examples......Page 382
References......Page 387
1 Introduction......Page 389
2 Model of the Elastic Catenary......Page 391
3 Kinematic and Static Analysis of the 2-DoF Planar  Suspended CDM......Page 394
3.1 Inverse Kinematic Problem......Page 395
3.3 Computation of the Stiffness Matrix and Stiffness Indices......Page 397
4 Results......Page 399
References......Page 403
1 Introduction......Page 406
2 Modeling of the Six-Cable Driven Parallel Manipulator  with Large Span......Page 407
2.1 Modeling Equations of Single Cables......Page 408
2.2 Modeling of the Six-Cable Driven Parallel Manipulator......Page 410
3.1 Modeling Error Analysis......Page 413
3.2 Simulation and Experiment......Page 416
References......Page 418
1 Introduction......Page 420
2 Finite Elements for Cables......Page 422
3 Dynamics Equation of CDPMs......Page 423
4.1 Initial State of CDPMs......Page 425
5 Numerical Examples......Page 426
6 Conclusions......Page 430
References......Page 432
978-3-642-31988-4_28......Page 433
Back Matter......Page 0
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Author Index......Page 444