Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Tao Zhao,Sen Qian,Dan Zhang,Zeqiang Yin,Bin Zi

doi:10.1177/1729881419834756

Abstract

To obtain better flexibility and multifunction in varying practical applications, several typical configurations of a modular reconfigurable cable-driven parallel robot are analyzed in this article. The spatial topology of the modular reconfigurable cable-driven parallel robot can be reconfigured by manually detaching or attaching the different number of modular branches as well as changing the connection points on the end-effector to satisfy diverse task requirements. The structure design of the modular reconfigurable cable-driven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. The inverse kinematics and dynamics of the modular reconfigurable cable-driven parallel robot considering diverse configurations are derived according to the vector closed rule and Lagrange method, respectively. The numerical simulation and related experiments of a typical configuration are achieved and analyzed. The results verify the effectiveness and feasibility of the inverse kinematics and dynamics models for the modular reconfigurable cable-driven parallel robot.

Highlights

Cable-driven parallel robots (CPRs) are a robotic manipulator designed to control the position and orientation of its end-effector within the system’s workspace driven by flexible cables.[1]
By detaching 1, 2, 3, and 4 modular branches separately, the modular reconfigurable cable-driven parallel robot (MRCPR) can be reconfigured from 6-degree of freedoms (DOFs) to 4, 3, or 2, respectively
The proposed MRCPR can be reconfigurable into a number of different configurations that are constructed by six identical modular branches

Summary

Introduction

Cable-driven parallel robots (CPRs) are a robotic manipulator designed to control the position and orientation of its end-effector within the system’s workspace driven by flexible cables.[1]. Other motivation with respect to the MRCPR including the trajectory tracking, safety monitoring, and obstacle avoidance have been investigated in author’s former works.[31] The contributions of this article are as follows: (1) Several typical configurations of the MRCPR are analyzed, which can be obtained by manually detaching or attaching the different number of modular branches and changing the connection points on the end-effector to meet diverse task requirements.

Design methodology

Conclusions