TY - GEN
T1 - Tension distribution algorithm for planar 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 2018.
PY - 2018
Y1 - 2018
N2 - Cable-Driven Parallel Robots (CDPRs) contain numerous advantages over conventional manipulators mainly due to their large workspace. Reconfigurable Cable-Driven Parallel Robots (RCDPRs) can increase the workspace of classical CDPRs by modifying the geometric architecture based on the task feasibility. This paper introduces a novel concept of RCDPR, which is a Mobile CDPR (MCDPR) mounted on multiple mobile bases allowing the system to autonomously reconfigure the CDPR. A MCDPR composed of two mobile bases and a planar CDPR with four cables and a point mass is studied as an illustrative example. As the mobile bases containing the exit points of the CDPR are not fixed to the ground, the static and dynamic equilibrium of the mobile bases and the moving-platform of the MCDPR are firstly studied. Then, a real time Tentensions onto the mobilesion Distribution Algorithm (TDA) that computes feasible and continuous cable tension distribution while guaranteeing the static stability of mobile bases and the equilibrium of the moving-platform of a n = 2 Degree of Freedom (DoF) CDPR driven by n+2 cables is presented.
AB - Cable-Driven Parallel Robots (CDPRs) contain numerous advantages over conventional manipulators mainly due to their large workspace. Reconfigurable Cable-Driven Parallel Robots (RCDPRs) can increase the workspace of classical CDPRs by modifying the geometric architecture based on the task feasibility. This paper introduces a novel concept of RCDPR, which is a Mobile CDPR (MCDPR) mounted on multiple mobile bases allowing the system to autonomously reconfigure the CDPR. A MCDPR composed of two mobile bases and a planar CDPR with four cables and a point mass is studied as an illustrative example. As the mobile bases containing the exit points of the CDPR are not fixed to the ground, the static and dynamic equilibrium of the mobile bases and the moving-platform of the MCDPR are firstly studied. Then, a real time Tentensions onto the mobilesion Distribution Algorithm (TDA) that computes feasible and continuous cable tension distribution while guaranteeing the static stability of mobile bases and the equilibrium of the moving-platform of a n = 2 Degree of Freedom (DoF) CDPR driven by n+2 cables is presented.
KW - Cable-driven parallel robot
KW - Equilibrium
KW - Mobile robot
KW - Reconfigurability
KW - Tension distribution algorithm
UR - https://www.scopus.com/pages/publications/85025807521
U2 - 10.1007/978-3-319-61431-1_23
DO - 10.1007/978-3-319-61431-1_23
M3 - Conference contribution
AN - SCOPUS:85025807521
SN - 9783319614304
T3 - Mechanisms and Machine Science
SP - 268
EP - 279
BT - Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
A2 - Bruckmann, Tobias
A2 - Gosselin, Clement
A2 - Cardou, Philippe
A2 - Pott, Andreas
PB - Springer Netherlands
T2 - 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
Y2 - 2 August 2017 through 4 August 2017
ER -