TY - GEN
T1 - Kinematic modeling and twist feasibility of mobile cable-driven parallel robots
AU - Rasheed, Tahir
AU - Long, Philip
AU - Marquez-Gamez, David
AU - Caro, Stéphane
N1 - Publisher Copyright:
© Springer International Publishing AG, part of Springer Nature 2019.
PY - 2018
Y1 - 2018
N2 - The kinematic performance of any robotic system can be analyzed from its first order kinematic model. Recently a novel concept of Mobile Cable-Driven Parallel Robots (MCDPRs) has been introduced to achieve an autonomous reconfiguration of Reconfigurable Cable-Driven Parallel Robots (RCDPRs). To analyze the kinematic performance of MCDPRs, this paper presents the first order kinematic model of the latter. Using the proposed kinematic model, the Available Twist Set (ATS) is determined that is required to analyze the twist capacities of MCDPRs. In contrast to ATS of classical CDPRs we show that the ATS of MCDPRs depends, not only on the cables velocities, but on the velocities of Mobile Bases (MBs) as well. As illustrative examples, the twist capacities of two and six Degree of Freedom (DoF) MCDPR is presented.
AB - The kinematic performance of any robotic system can be analyzed from its first order kinematic model. Recently a novel concept of Mobile Cable-Driven Parallel Robots (MCDPRs) has been introduced to achieve an autonomous reconfiguration of Reconfigurable Cable-Driven Parallel Robots (RCDPRs). To analyze the kinematic performance of MCDPRs, this paper presents the first order kinematic model of the latter. Using the proposed kinematic model, the Available Twist Set (ATS) is determined that is required to analyze the twist capacities of MCDPRs. In contrast to ATS of classical CDPRs we show that the ATS of MCDPRs depends, not only on the cables velocities, but on the velocities of Mobile Bases (MBs) as well. As illustrative examples, the twist capacities of two and six Degree of Freedom (DoF) MCDPR is presented.
KW - Available twist set
KW - Cable-driven parallel robots
KW - Mobile bases Kinematic modeling
UR - http://www.scopus.com/inward/record.url?scp=85057070533&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-93188-3_47
DO - 10.1007/978-3-319-93188-3_47
M3 - Conference contribution
AN - SCOPUS:85057070533
T3 - ARK 2018 - 16th International Symposium on Advances in Robot Kinematics
SP - 410
EP - 418
BT - ARK 2018 - 16th International Symposium on Advances in Robot Kinematics
PB - Springer
T2 - 16th International Symposium on Advances in Robot Kinematics, ARK 2018
Y2 - 1 July 2018 through 5 July 2018
ER -