Dynamic and Wrench-Feasible Workspace Analysis of a Cable-Driven Parallel Robot Considering a Nonlinear Cable Tension Model
Source abstract
Abstract
Cable-driven parallel robots (CDPRs) have several advantages and have been widely used in many industrial fields, especially industrial applications that require high dynamics, high payload capacity, and a large workspace. In this study, a design model for a CDPR system was proposed, and kinematic and dynamic modeling of the system was performed. Experiments were carried out to identify the dynamic modulus of elastic cables based on the dynamic mechanical analysis (DMA) method. A modified kinematic equation considering cable nonlinear tension was developed to determine the optimal cable tension at each position of the end-effector, and the wrench-feasible workspace was analyzed at various motion accelerations. The simulation results show that the proposed CDPR system obtains a large workspace, and the overall workspace is satisfactory and unrestricted for moving ranges in directions limited by the X-axis and the Y-axis from −0.3 to 0.3 m and by the Z-axis from 0.1 to 0.7 m. The overall workspace was found to depend on the condition of acceleration as well as the moving ranges limited by the end-effector. With an increase in external acceleration, the cable tension distribution increased and reached a maximum in the case of 100 m/s2.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Advanced Surface Polishing Techniques · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical Engineering, National Kaohsiung University of Science and Technology, Kaohsiung 80778, Taiwan
Faculty of Engineering and Technology, Nguyen Tat Thanh University, 300a Nguyen Tat Thanh, Ward 13, District 4, Ho Chi Minh City 700000, Vietnam
Funding
Ministry of Science and Technology of the Republic of China
References (32)
Show source-provided references
1. Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application10.1109/TCST.2008.2004812 ↗
2. Localization obstacle avoidance planning and control of a cooperative CDPR for multiple mobile cranes10.1016/j.rcim.2014.11.005 ↗
3. Design and Development of a New Cable-Driven Parallel Robot for Waist Rehabilitation10.1109/TMECH.2019.2917294 ↗
4. Xin, M. (2008). Kinematics Dynamics and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot. [Master’s Thesis, Ohio University].
5. Kraus, W. (2015). Force Control of Cable-Driven Parallel Robot. [Ph.D. Thesis, Stuttgart University].10.1109/ICRA.2014.6907731 ↗
6. Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator10.1109/TRO.2014.2347573 ↗
7. Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches10.1109/TRO.2018.2875415 ↗
8. A novel cable element for nonlinear thermo-elastic analysis10.1016/j.engstruct.2018.04.022 ↗
9. Increase of Position Accuracy for Cable-Driven Parallel Robots Using a Model for Elongation of Plastic Fiber Ropes10.1007/978-3-319-44156-6_34 ↗
10. Miyasaka, M., Haghighipanah, M., Li, Y., and Hannaford, B. (2016, January 16–21). Hysteresis model of longitudinally loaded cable for cable driven robots and identification of the parameters. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.10.1109/ICRA.2016.7487596 ↗
11. Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction10.1177/1687814017714981 ↗
12. Kieu, D.-V.N., and Huang, S.-C. (2020, January 23–25). Dynamic Creep Phenomenon on Polymer Cable with Non-linear Characteristics for Cable-driven Parallel Robots. Proceedings of the 2020 IEEE Eurasia Conference on IOT, Communication and Engineering (ECICE), Yunlin, Taiwan.10.1109/ECICE50847.2020.9301912 ↗
13. Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms10.1115/1.1830045 ↗
14. Cable-suspended robotic contour crafting system10.1016/j.autcon.2007.02.011 ↗
15. Force-closure workspace analysis of cable-driven parallel mechanisms10.1016/j.mechmachtheory.2005.04.003 ↗
16. Loloei, A.Z., Aref, M.M., and Taghirad, H.D. (2009, January 14–17). Wrench feasible workspace analysis of cable-driven parallel manipulators using LMI approach. Proceedings of the 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore.10.1109/AIM.2009.5229723 ↗
17. Workspace analysis and design of large-scale cable-driven printing robot considering cable mass and mobile platform orientation10.1016/j.mechmachtheory.2021.104426 ↗
18. Wrench Feasibility and Workspace Expansion of Planar Cable-Driven Parallel Robots by a Novel Passive Counterbalancing Mechanism10.1109/TRO.2020.3038697 ↗
19. Zake, Z., Chaumette, F., Pedemonte, N., and Caro, S. (2021). Control Stability Workspace for a Cable-Driven Parallel Robot Controlled by Visual Servoing. Cable-Driven Parallel Robots: Proceedings of the 5th International Conference on Cable-Driven Parallel Robots, Springer. Mechanisms and Machine Science.10.1109/ICRA48506.2021.9561236 ↗
20. Sen, D., Mohan, S., and Ananthasuresh, G. (2021). Cable Driven Parallel Robot with Big Interference-Free Workspace. Mechanism and Machine Science, Springer. Lecture Notes in Mechanical Engineering.10.1007/978-981-15-4477-4 ↗
21. Musculoskeletal Static Workspace Analysis of the Human Shoulder as a Cable-Driven Robot10.1109/TMECH.2013.2295120 ↗
22. Workspace and stability analysis of a 6-DOF cable-driven parallel robot using frequency-based variable constraint10.1007/s12206-018-0238-1 ↗
23. Pott, A. (2012). Influence of Pulley Kinematics on Cable-Driven Parallel Robots. Latest Advances in Robot Kinematics, Springer.10.1007/978-94-007-4620-6_25 ↗
24. Kraus, W., Kessler, M., and Pott, A. (2015, January 26–30). Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.10.1109/ICRA.2015.7139406 ↗
25. Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model10.1115/1.4038068 ↗
26. Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis10.4028/www.scientific.net/AMM.794.419 ↗
27. Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., and Verl, A. (2013). Ipanema: A family of Cable-Driven Parallel Robots for Industrial Applications. Cable-Driven Parallel Robots, Springer. Mechanisms and Machine Science.10.1109/ISR.2013.6695742 ↗
28. Miermeister, P., Kraus, W., Lan, T., and Pott, A. (2015). An elastic cable model for cable-driven parallel robots including hysteresis effects. Cable-Driven Parallel Robots, Springer.10.1007/978-3-319-09489-2_2 ↗
29. Menard, K.P. (2008). Dynamic Mechanical Analysis: A Practical Introduction, CRC Press. [2nd ed.].10.1201/9781420053135 ↗
30. Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms10.1109/TRO.2006.870638 ↗
31. Wrench-feasible workspace generation for cable-driven robots10.1109/TRO.2006.878967 ↗
32. Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration10.1007/s00542-016-3025-x ↗