Abstract
Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.
Highlights
The workspace restricts the controller actions and mechanical movements of a robot, avoiding collisions between the various robot components and between the robot and its work environment.determining and analyzing the workspace are essential components of robotics research [1].Cable-driven parallel robots (CDPRs) have been recently deployed in industrial applications and rehabilitation programs for ill people
Case 3: The workspace conditions are those of case 2, but the cable-connection points supporting the robot can move through a restricted segment of the circular periphery mechanism
3: The workspace conditions are those of case 2, butThe thefunction cable-connection points supporting robot in each interval is determined by linear programming
Summary
The workspace restricts the controller actions and mechanical movements of a robot, avoiding collisions between the various robot components and between the robot and its work environment.determining and analyzing the workspace are essential components of robotics research [1].Cable-driven parallel robots (CDPRs) have been recently deployed in industrial applications and rehabilitation programs for ill people. The workspace restricts the controller actions and mechanical movements of a robot, avoiding collisions between the various robot components and between the robot and its work environment. Determining and analyzing the workspace are essential components of robotics research [1]. Cable-driven parallel robots (CDPRs) have been recently deployed in industrial applications and rehabilitation programs for ill people. Merlet and Daney [2] proposed a fully autonomous portable mechanism for rescue operations. Various rehabilitation robots [3,4,5,6] rely on the correct orientation of the robot. Other examples can be found in space exploration, which is an environment where the manual setup of cable robots by human operators is typically not possible [7,8]
Sign-in/Register to view highlights & summary 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.
