Abstract
With the increasing popularity of electric vehicles, low level of automation for charging process has become one of the main factors restricting the development of electric vehicles. Recently, auto-charging robots which have the ability to transform manual process plugging charging plugs into charging ports to automatic plugging-unplugging operation have arisen. This paper presents a 4-DOF cable-driven auto-charging robot (CDACR) consisting of a 3-DOF cable-driven serial manipulator (CDSM) and a moving platform. In this design, the 3-DOF CDSM is actuated by six cables being routed through five disks fixed to the CDSM's rigid links. The end-effector of CDACR is a flexible plug that has the ability to withstand small elastic deformation. The control algorithm and the plugging-unplugging strategy were designed to respond to various parking situations with or without yaw error. This paper takes the lead in introducing the cable-driven robot into the field of automatic charging. Besides, through simulated charging experiments, the feasibility and effectiveness of using CDACR to realize auto-charging for electric vehicles has been demonstrated.
Highlights
Electric vehicles are rapidly becoming popular on our roads
Devices of the first category include Volkswagen e-smart Connect based on a KUKA LBR iiwa [1], the Robotic Charging Station based on UR10 robot developed by Graz University of Technology [2], and PowerHydrant [3]
These designs based on traditional articulated manipulators and were capable of automatically plugging and unplugging vehicle connectors to electric vehicles
Summary
Electric vehicles are rapidly becoming popular on our roads. Presently, the charging process still depends on manual operation [1]. A 4-DOF cable-driven auto-charging robot (CDACR) consisting of a 3DOF CSDM and a moving platform is developed. MECHANICAL DESIGN 1) DOF DISTRIBUTION AND LINK DESIGN According to the actual charging requirements, 4-DOF CDACR was designed This robot consists of two parts, i.e., a 3-DOF cable-driven manipulator and a moving platform. The first two cables numbered 1 and 2 are routed through the moving platform (the base of CDSM) and terminate on the second joint upper disk (UD2) They control the clockwise and counterclockwise motion of the first revolute joint. The last two cables numbered 5 and 6 are routed through the moving platform, the second joint upper disk (UD2), the third joint lower disk (LD3), the third joint upper disk (UD3), and the fourth joint lower disk (LD4) and, eventually, terminate on the third joint upper disk (UD4) They control the clockwise and counterclockwise motion of the third revolute joint. A PC desktop is used to provide a user interface and carry out the remote control of the IPC control system
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
