Kinematic modeling and twist feasibility of mobile cable-driven parallel robots

Tahir Rasheed; Philip Long; David Marquez-Gamez; Stéphane Caro

doi:10.1007/978-3-319-93188-3_47

Kinematic modeling and twist feasibility of mobile cable-driven parallel robots

Tahir Rasheed
, Philip Long
, David Marquez-Gamez
, Stéphane Caro

Laboratoire des Sciences du Numérique de Nantes
Northeastern University
Nantes Université

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Springer Proceedings in Advanced Robotics
Subtitle of host publication	SPAR, Volume 8
Publisher	Springer
Pages	410-418
Number of pages	9
ISBN (Electronic)	9783319066974
DOIs	https://doi.org/10.1007/978-3-319-93188-3_47
Publication status	Published - 23 Jun 2018
Externally published	Yes
Event	16th International Symposium on Advances in Robot Kinematics, ARK 2018 - Bologna, Italy Duration: 1 Jul 2018 → 5 Jul 2018

Publication series

Name	International Symposium on Advances in Robot Kinematics
Number	ARK 2018
Volume	16

Conference

Conference	16th International Symposium on Advances in Robot Kinematics, ARK 2018
Country/Territory	Italy
City	Bologna
Period	1/07/18 → 5/07/18

Keywords

available twist set
cable-driven parallel robots
kinematic modeling
mobile bases

Access to Document

10.1007/978-3-319-93188-3_47

Cite this

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title = "Kinematic modeling and twist feasibility of mobile cable-driven parallel robots",

abstract = "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.",

keywords = "available twist set, cable-driven parallel robots, kinematic modeling, mobile bases",

author = "Tahir Rasheed and Philip Long and David Marquez-Gamez and St{\'e}phane Caro",

note = "Publisher Copyright: {\textcopyright} 2019, Springer International Publishing AG, part of Springer Nature.; 16th International Symposium on Advances in Robot Kinematics, ARK 2018 ; Conference date: 01-07-2018 Through 05-07-2018",

year = "2018",

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doi = "10.1007/978-3-319-93188-3\_47",

language = "English",

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Rasheed, T, Long, P, Marquez-Gamez, D & Caro, S 2018, Kinematic modeling and twist feasibility of mobile cable-driven parallel robots. in Springer Proceedings in Advanced Robotics: SPAR, Volume 8. International Symposium on Advances in Robot Kinematics, no. ARK 2018, vol. 16, Springer, pp. 410-418, 16th International Symposium on Advances in Robot Kinematics, ARK 2018, Bologna, Italy, 1/07/18. https://doi.org/10.1007/978-3-319-93188-3_47

Kinematic modeling and twist feasibility of mobile cable-driven parallel robots. / Rasheed, Tahir; Long, Philip; Marquez-Gamez, David et al.
Springer Proceedings in Advanced Robotics: SPAR, Volume 8. Springer, 2018. p. 410-418 (International Symposium on Advances in Robot Kinematics; Vol. 16, No. ARK 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Rasheed, Tahir

AU - Long, Philip

AU - Marquez-Gamez, David

AU - Caro, Stéphane

PY - 2018/6/23

Y1 - 2018/6/23

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.

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KW - kinematic modeling

KW - mobile bases

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ER -

Kinematic modeling and twist feasibility of mobile cable-driven parallel robots

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Keywords

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