Cable-Driven Parallel Robots

Name: Cable-Driven Parallel Robots | Proceedings of the 5th International Conference on Cable-Driven Parallel Robots
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Proceedings of the 5th International Conference on Cable-Driven Parallel Robots

Marc Gouttefarde Tobias Bruckmann Andreas Pott(Editor)

Springer (Publisher)

1st Edition

Published on 31. May 2021

XII, 428 pages

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978-3-030-75789-2 (ISBN)

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Content

Intro
Preface
Organization
International Scientific Committee
Contents
Kinematics
Efficient Kinematics of a 2-1 and 3-1 CDPR with Non-elastic Sagging Cables
1 Introduction
2 Cable Model
3 Analysis of the 2-1 CDPR
3.1 Inverse Kinematics
3.2 Example
3.3 Direct Kinematics
3.4 Example
4 Preliminary Analysis of the 3-1 CDPR
4.1 Inverse Kinematics
4.2 Direct Kinematics
5 Conclusion
References
Kinematics of a 2-DOF Planar Suspended Cable-Driven Parallel Robot
1 Introduction
2 Geometric Models
2.1 Inverse Geometric Problem
2.2 Direct Geometric Problem
3 Kinematic Models
4 Conclusion
References
A New Performance Index for Underactuated Cable-Driven Parallel Robots
1 Introduction
2 Geometrico-Static Model
2.1 Geometric Model
2.2 Kinematic Model
2.3 Static Modelling
3 Maximum Tension Variation Under a Cable Displacement Error
4 Application
5 Conclusions
References
CDPR Forward Kinematics with Error Covariance Bounds for Unconstrained End-Effector Attitude Parameterizations
1 Introduction
1.1 Notation
1.2 System Description
1.3 Attitude Parameterizations
2 Forward Kinematics Formulation
2.1 Method 1: Cable Length Squared Loop-Closure Equations
2.2 Method 2: Cable Length Loop-Closure Equations
2.3 Discussion
3 Numerical Results
4 Conclusion
References
Neural Network-Based Inverse Kineto-Static Analysis of Cable-Driven Parallel Robot Considering Cable Mass and Elasticity
1 Introduction
2 Inverse Kineto-Static Problem
3 Neural Network-Based Inverse Kineto-Static Analysis
3.1 Dataset Creation
3.2 Defining the Parameters of Deep Neural Network
3.3 Training and Validation
4 Results and Discussion
5 Conclusions
References
Unsupervised Neural Network Based Forward Kinematics for Cable-Driven Parallel Robots with Elastic Cables
1 Introduction
2 Contributions and Paper Organization
3 Parametrization
4 Elastic Cable Model
5 Geometrico-Static Modeling
5.1 Static Equilibrium
5.2 Inverse Kinematics
5.3 Forward Kinematics
6 Neural-Network Formulation
6.1 Network Architecture
6.2 Derivatives and Gradient Descent
7 Simulation Results
8 Discussion
9 Conclusions and Future Work
References
Statics and Force Distribution
Maximal Cable Tensions of a N-1 Cable-Driven Parallel Robot with Elastic or Ideal Cables
1 Introduction
2 Calculation of the Maximal Cable Tensions
2.1 Maximal Tension with only 3 Cables Under Tension
2.2 Maximal Tensions with 4 Cables Under Tension
3 Extension to N&4 Cables
4 Conclusion
References
Wrench Analysis of Kinematically Redundant Planar CDPRs
1 Introduction
2 Mathematical Methods
2.1 Lie Group Formulations
2.2 Reciprocal Wrenches
2.3 Available Wrench Set
2.4 Wrench Polytope
3 r-CDPR Formulation
3.1 Twist Assembled Jacobian
3.2 Wrench Assembly
4 Analysis of the Available Wrench Set
4.1 Available Wrench Set for the 4-RPR CDPR
4.2 Available Wrench Set for the 3-RPR, 1-PRPR r-CDPR
5 Conclusion
References
Nonlinear Observer-Based Tension Distribution for Cable-Driven Parallel Robots
1 Introduction
2 Dynamic Modeling and Control
3 Stability Analysis
4 Performance Analysis
4.1 Simulation Setup
4.2 Simulation Results
5 Conclusion
References
A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots
1 Introduction
2 Notation
3 A Force Correction Method Considering the Nullspace
4 Evaluation Through Experiments and Simulation
5 Conclusion and Outlook
References
Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation
1 Introduction
2 Kinematic Model
3 Force-Distribution Sensitivity
4 Workspace Characterization
5 Experiments on Hybrid-Input Control
6 Conclusions
References
Design
Configuration Optimization of an Auto-reconfigurable Cable-Driven Upper-Limb Rehabilitation Robot
1 Introduction
2 Problem Formulation
2.1 Modeling
2.2 Optimization Problem
3 Configuration Optimization
3.1 Performance Space Solution Based on Interval Analysis
3.2 Configuration Optimization Based on Performance Space
4 Simulation
5 Conclusion
References
Design of a Docking System for Cable-Driven Parallel Robot to Allow Workspace Reconfiguration in Cluttered Environments
1 Introduction
1.1 Related Work
2 Decoupling Mechanism Design
2.1 End Effector Docking
2.2 End Effector Release
2.3 Docking Column Design
3 Robot Analysis
4 Discussion and Conclusion
References
Multi Objective Optimization of a Cable-Driven Robot with Parallelogram Links
1 Introduction
2 Parallelogram Configuration
3 Kinetostatic Analysis
3.1 Structure Matrix Definition
3.2 Kinetostatic Analysis in Robots with Transmission Drums
4 Multi Objective Optimization
4.1 Design Indices
4.2 Design Parameters and Objective Functions
4.3 Optimization Results
5 Conclusions
References
Workspace Planningpg for In-Operation-Reconfigurationpg of Cable-Driven Parallel Robots
1 Introduction
2 Theoretical Foundations
3 Modelling of Reconfiguration
3.1 Reconfigurable Parameters
3.2 Workspace Property and Requirement
3.3 Reconfiguration Problem
4 Solution of the Reconfiguration Problem
4.1 Solution Strategy
4.2 Simulation Experiment
5 Conclusion and Outlook
References
Heuristic-Based Design Framework for the Cable Arrangement of Cable-Driven Parallel Robots
1 Introduction
2 Background of CDPR
3 Heuristic Design Framework for CDPR
4 Heuristics Library
4.1 Center-Based Scheme
4.2 Center-Based Scheme with Consideration of Force
4.3 Density-Based Scheme
4.4 Installation Space-Based Scheme
5 Selection Indicators for Evaluation Process
6 Example of Heuristic Design
6.1 Step 1: Rough Selection
6.2 Step 2: Simulations and Results Analysis
7 Conclusion and Future Work
References
Variable-Structure Cable-Driven Parallel Robots
1 Introduction
2 Generalized Modeling and Classification of CDPRs
3 Planar VSCR Testbed
4 Ongoing Work and Remaining Challenges
5 Conclusion
References
Control
An Emergency Strategy for Cable Failure in Reconfigurable Cable Robots
1 Introduction
2 Kinematic and Dynamic Cable Robot Modeling
3 Minimization of Kinetic Energy in Case of Cable Failure
3.1 Nonlinear Model Predictive Control Approach
3.2 Extension of the Strategy Using Movable Pulleys
4 Examination of the Post-failure Workspace
5 Dynamic Simulation and Results
6 Summary and Outlook
References
Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis
1 Introduction
2 Concept of Hybrid Position-Force Controller
3 Simulation Analysis
3.1 Subsystem Modeling
3.2 Simulation Results
4 Experimental Analysis at the Workspace Border
4.1 Experimental Setup
4.2 Experiment Procedure
4.3 Results and Discussion
5 Conclusion
References
Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE
1 Introduction
2 CDPR Dynamics
2.1 Nominal Model of CDPR
3 SDC Parameterization
3.1 SDC Parameterization of CDPR
4 Proposed Control Algorithm
4.1 Constrained Optimal Control of CDPR
4.2 Stability Analysis
5 Simulation Results
6 Conclusion
A Appendix
B Appendix
References
Model-Based Control of a Planar 3-DoF Cable Robot Using Exact Linearization
1 Introduction
2 Modeling
3 Control
4 Simulation
5 Conclusion
References
Motor Current Based Force Control of Simple Cable-Driven Parallel Robots
1 Introduction
2 Relationship Between Motor Current and Cable Force
2.1 From Current to Torque
2.2 From Motor Torque to Cable Force
3 Considerations for Motor Current Based Force Control
3.1 Design
3.2 Cogging Compensation
3.3 Friction Compensation
4 Prototype
4.1 Hardware
4.2 Control
4.3 Experimental Validation
5 Conclusion
References
Control Stability Workspace for a Cable-Driven Parallel Robot Controlled by Visual Servoing
1 Introduction
2 Visual Servoing of a CDPR
3 Control Stability Workspace
3.1 The Definition of Perturbation Bounds D
4 Case Study
4.1 CDPR Prototypes
4.2 CSW for ACROBOT with PBVS
4.3 CSW for CAROCA with PBVS
4.4 Discussion
5 Conclusions
References
A Simple and Efficient Non-model Based Cable Tension Control
1 Introduction
2 Set-Up Description
3 Cable Tension Control Scheme
4 Experimental Results
4.1 Main Validation
4.2 Additional Results
5 Conclusions
References
Modeling and Observer-Based Control of a Planar Two-Cable Crane Manipulator
1 Introduction
2 Nonlinear Equations of Motion
2.1 Control Design Model
2.2 Equations of Motion in Dependent Coordinates
2.3 Equations of Motion in Minimal Coordinates
3 Linearised Equations of Motion
4 Control Design
4.1 Nonlinear Feedforward Control
4.2 Linear Feedback Control
4.3 Nonlinear Observer
4.4 Control Structure
5 Simulation Results
6 Conclusion
References
Calibration and Performance Improvement
Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot
1 Introduction
2 HCDPR Description
3 Kinematic Model
3.1 Kinematic and Actuation Redundancy
3.2 Selection of Generalized Joint Coordinates
3.3 Serial Kinematic Chain and Denavit-Hartenberg Parameters
4 Kinematic Redundancy Resolution
5 Simulation and Experimental Results
6 Conclusion
Appendices
References
Development of an Active End Effector for Cable Robot Calibration
1 Introduction
2 Mathematical Foundations
2.1 Cable Robot Modeling
2.2 Extended Kalman Filter
3 Calibration
3.1 EKF 1
3.2 EKF 2
3.3 EKF 3
3.4 Optimization
4 Results
4.1 Simulation
4.2 Experiment
5 Conclusion
References
Accuracy Improvement for CDPRs Based on Direct Cable Length Measurement Sensors
1 Introduction
2 Kinematic
2.1 Standard Kinematic Model of a CDPR
2.2 Kinematic of the DCLM-Sensor
3 Implementation
3.1 Standard CDPR Controller
3.2 DCLM Correction Controller
4 Experimental Evaluation
4.1 Accuracy Results of the DCLM Correction Controller
5 Conclusion
References
Development of Safety Concepts for Cable-Driven Parallel Robots
1 Introduction
2 Safety Systems
2.1 Joint Space
2.2 Operational Space
3 Conclusion
References
Applications
Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running
1 Introduction
2 Experimental Setup
2.1 Robot Prototype
2.2 Exteroceptive Measurement
3 Long-Term Running Experiments
3.1 Method
3.2 Long-Term Running Experimental Results
4 Accuracy and Repeatability
4.1 Method
4.2 Factors
4.3 Experimental Procedure
4.4 Results
5 Conclusion
References
Under Constrained Cable-Driven Parallel Robot for Vertical Green Maintenance
1 Introduction
1.1 Vertical Green (VG) for Cities
1.2 Maintenance of Vertical Green
1.3 Justification of a Cable Driven Robotic Concept
1.4 Analysis of Degrees of Freedom
2 Description of the Cable Driven Robot
2.1 Tolerated Working Space
2.2 Selection of Traction Device
2.3 Compensation of Rolling Motions of the Robot
2.4 Compensation of Swinging Motions of the Robot
3 Demonstration of the Actual Prototype
3.1 Current Status of the Robot
3.2 Further Development Tasks
4 Conclusion
References
Real-World Development of a Cleaning CDPR for Primary Lamella Sedimentation Tanks
1 Introduction
2 Design
2.1 Supporting Frame
2.2 Analysis
2.3 Winches and Pulleys
2.4 Cleaning Tools
3 Model Acquisition and Operation
3.1 Model Acquisition
3.2 Operation
4 Results
4.1 Cleaning Effect
5 Conclusion and Future Work
References
Cable-Driven Robot to Simulate the Buoyancy Force for Improving the Performance of Underwater Robots
1 Introduction
2 Buoyancy Force
2.1 Resultant Buoyancy
2.2 Wrench Exertion
3 Reaction Force and Equilibrium
4 Robot Description
4.1 Mechanical Components
4.2 Motor Selection
5 Application
6 Discussion
References
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Cable-Driven Parallel Robots

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