Cable-Driven Parallel Robots

Name: Cable-Driven Parallel Robots | Proceedings of the 4th International Conference on Cable-Driven Parallel Robots
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Proceedings of the 4th International Conference on Cable-Driven Parallel Robots

Andreas Pott Tobias Bruckmann(Editor)

Springer (Publisher)

1st Edition

Published on 12. June 2019

XII, 426 pages

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978-3-030-20751-9 (ISBN)

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Content

Intro
Preface
Contents
Part I Design
1 Planar Cable-Driven Robots with Enhanced Orientability
1 Introduction
2 Limited orientability of the moving platform in cable-driven robots
2.1 Three-cable planar robot
2.2 Four-cable robot
3 Complete orientability in cable robots
3.1 An extra cable to enhance orientation
3.2 Re-calculated tensions for orienting in a given location
4 Prototype
4.1 Three-cable robot with complete orientability
5 Closure
References
2 Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach
1 Introduction
2 Chain-Driven Robot vs Cable-Driven Robot
3 Preliminary Prototype
3.1 Prototype design
3.2 Experimental platform
3.3 Tension Analysis
3.4 Workspace Analysis
4 Results
4.1 Experiments setup
4.2 First movements
5 Conclusions
Acknowledgements
References
3 Non-slipping Conditions of Endless-Cable Driven Parallel Robot by New Interpretations ofthe Euler-Eytelwein's Formula
1 Introduction
2 Endless-cable driven parallel robot
3 Statics of the endless-pulley
3.1 single-drum and double-drums
3.2 A new interpretation of the Euler-Eytelwein's formula
3.3 Non-slipping condition of the endless-pulley
4 Statics of the endless-winch
4.1 Endless-winch system in the E-CDRP
4.2 Statics and non-slipping condition of the endless-winch
5 Statics of general E-CDPR
6 Conclusions
Acknowledgement
References
4 Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot
1 Introduction
2 Mechanical design of unlimited rotatable CDPR
2.1 Planar three-dof by five cables CDPR "SEIMEI"
2.2 Modeling
3 Expand the null space vector of the transposed Jacobian matrix
3.1 wrench-closure condition
3.2 Cable configurations
3.3 Cofactor expansion of the null space vector of the transposedJacobian matrix
4 Determine cable configurations
4.1 Three kinematic parameters
4.2 Verification of cable configurations of SEIMEI
5 Simulation
6 Conclusion
Acknowledgement
References
5 Improving cable length measurements for large CDPR using the Vernier principle
1 Introduction
2 Approach
3 The initialization problem: a first approach
4 Number of marks
5 Measuring cable lengths
5.1 Significant sensor events
5.2 Optimal configuration
5.3 The initialization problem: a second approach
6 Conclusion
References
Part II Kinematics and Static
6 Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots
1 Introduction
2 Wrench and Jacobian Matrices
3 Stiffness Analysis
4 Results
5 Conclusion
References
7 Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots
1 Introduction
2 Vision-Based Control of a CDPR
2.1 CDPR Kinematics
2.2 Pose-Based Visual Servoing
3 Stability Condition
3.1 Estimated Parameters
4 Case Study
4.1 ACROBOT and Simulation in V-REP
4.2 Numerical Analysis
4.3 Experimental Validation
5 Conclusions
Acknowledgment
References
8 Practical Stability of Under-Constrained Cable-Suspended Parallel Robots
1. Introduction
2. Kinematic Analysis
3. Stability of equilibrium
4. Practical tasks and stability
5. Examples
6. Conclusion
7. References
9 Singularity Characteristics of a Class of Spatial Redundantly actuated Cable-suspended Parallel Robots and Completely actuated ones
1 Introduction
2 Spatial Redundantly-actuated CSPR Description with Parallelogram Pairwise Cables
3 Kinetic Modelling
4 Singularity Analysis
5 Case Study
6 Conclusions
Acknowledgments
References
10 Kinetostatic Modeling of a Cable-Driven Parallel Robot using a Tilt-Roll Wrist
1 Introduction
2 Manipulator Architecture
3 Kinetostatic Model of the Tilt-Roll Wrist
4 Kinetostatic Model of the Manipulator
5 Workspace Analysis
6 Conclusions
References
11 Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation
1 Introduction
2 Multiplatform Cable Robots
3 Inverse Kinematics and Static Equilibrium of Cable Robots with Single Platform
4 Planar Cable Robot with Two Platforms and Unlimited Rotation
4.1 Kinematics
4.2 Force Distribution Analysis
4.3 Workspace Analysis
5 Conclusion
Acknowledgments
References
Part III Workspace
12 Calculation of the cable-platform collision-free total orientation workspace of cable-driven parallel robots
1 Introduction
2 Kinematic model of cable-driven parallel robots
3 Assumptions for cable-platform collision detection
4 Workspace definitions
4.1 A homogeneous set of rotations
4.2 Rotations about a single axis
5 Calculation of the collision cones
5.1 Collision detection for a platform pose
5.2 Collision detection for a set of platform orientations
5.3 Collision detection for R?
5.4 Collision detection for Rd,?
6 Implementation and evaluation
7 Conclusion and outlook
Acknowledgements
References
13 Workspace Analysis of Cable Parallel Manipulator for Side Net Cleaning of Deep Sea Fishing Ground
1 Introduction
2 Model construction
3 Workspace analysis
4 Stiffness analysis
5 Conclusion
14 Identifying the largest sphere inscribed in the constant orientation wrench-closure workspace of a spatial parallel manipulator driven by seven cables
1 Introduction
2 Mathematical Formulation
2.1 Geometry of the robot
2.2 Wrench-closure workspace (WCW) and the derivation of the singularity-free sphere (SFS)
2.3 Solution methodology
3 Results
4 Conclusions
References
15 A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification
1 Introduction
2 Definition of the cable span
3 Collision avoidance checking
4 A simple bounding volume approximation of the cable span
5 Collision avoidance checking with the new cable span bounding volume approximation
6 Conclusion
7 Acknowledgement
References
16 Computation of the interference-free wrench feasible workspace of a 3-DoF translational tensegrity robot
1 Introduction
2 Description of the tensegrity robot
3 Description of the workspace constraints
3.1 Constraints due to limits on member lengths (C1)
3.2 Constraints due to interferences between members (C2)
3.3 Constraints related to wrench feasibility (C3)
4 Workspace computation using interval analysis
4.1 Some concepts of interval analysis
4.2 Branch-and-prune workspace computation algorithm
4.3 Interval evaluation of the member length constraints (C1)
4.4 Interval evaluation of the member interference constraints (C2)
4.5 Interval evaluation of the wrench feasibility constraints (C3)
5 Examples
6 Conclusion
References
17 Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots
1 Introduction
2 Fully Constrained Poses
2.1 Planar Cable Robots
2.2 Spatial Cable Robots
3 Workspace of Cable Robots
3.1 Fully Constrained 5 DOF Robots
3.2 Fully Constrained 6 DOF Robots
4 Conclusion
References
Part IV Control
18 Robust Adaptive Control of Over-Constrained Actuated Cable-Driven Parallel Robots
1 Introduction
2 Robot kinematics and dynamics
3 Control design
3.1 Outer-loop controller design
3.2 Inner-loop controller design
4 Stability analysis and performance evaluation
5 Simulation results
6 Conclusion
References
19 Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots
1 Introduction
2 Dynamic Modeling of CDPRs
3 Proposed Control Schemes
3.1 Background on the State of the Art Controllers
3.2 Proposed Model Predictive Controller (MPC)
4 Simulation Results
5 Conclusions and Future Work
ACKNOWLEDGMENT
References
20 Linearised Feedforward Controlof a Four-Chain Crane Manipulator
1 Introduction
2 Nonlinear Dynamics of the Crane Manipulator
2.1 Coordinates
2.2 Nonlinear Equations of Motion
2.3 Direct and Inverse Dynamics and Statics
3 Linearised Dynamics of the Crane Manipulator
4 Feedforward trajectory control
5 Numerical Example
6 Conclusion and Outlook
Acknowledgement
References
21 An experimental study on control accuracy of FAST cable robot following zigzag astronomical trajectory
1. Introduction
2. Coupled series control system
3. Astronomical trajectory
4. Control tests and analysis
5. Summary
Acknowledgments
Reference
Part V Motion Planning
22 Path Planning of a Mobile Cable-Driven Parallel Robotin a Constrained Environment
1 Introduction
2 Manipulator Description and Parameterization
3 Wrench Feasibility
3.1 Static Equilibrium of the MCDPR
3.2 Available Wrench Set
4 Task Formulation
5 Path planning Algorithm
5.1 Generation of feasible path for mobile bases
5.2 Generation of the moving-platform optimal path
6 Results and Discussion
7 Conclusion and Future Work
References
23 Development of Emergency Strategies for Cable-Driven Parallel Robots after a Cable Break
1 Introduction
2 Modeling and cable-robot basics
3 Development of emergency-strategies
3.1 Minimization of kinetic energy
3.2 Potential fields
4 Simulation and results
4.1 Examination of the Workspace
4.2 Application of emergency methods
5 Conclusion and Outlook
Acknowledgment
References
24 A Conditional Stop Capable Trajectory Planner for Cable-Driven Parallel Robots
1 Introduction and state of the art
2 Development of PTP trajectory planners
2.1 Trajectory planning based on velocity and acceleration limit
2.2 Time parameters of the segments
2.3 Calculation of time parameters
2.4 Review of set parameters
3 Conditional stop trajectory
3.1 Stop trajectory at workspace boundaries
4 Experimental results
5 Conclusion
6 Acknowledgements
References
Part VI Advanced Cable Modeling
25 Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots
1 Introduction
2 Dynamics Modeling
2.1 Cable Model
2.2 Platform Model
2.3 Combined Dynamics Model
3 Numerical Results
3.1 Numerical Intergration Scheme
3.2 Approximation of Natural
3.3 Numerical Simulation
4 Conclusions
Acknowledgments
References
26 Static and dynamic analysis of a 6 DoF totally constrained cable robot with 8 preloaded cables
1 Introduction
2 Robot modeling
2.1 Inverse Kinematics
2.2 Stiffness matrix formulation with preload cables
2.3 Mass matrix formulation and vibration modes
2.4 Non-linear dynamic modelling
3 Simulation results
3.1 Static and modal analysis
3.2 Dynamic simulation for a given position
3.3 Dynamic simulation for a circular trajectory
4 Conclusion
Acknowledgements
References
27 Slackening Effects in 2D Exact Positioning in Cable-Driven Parallel Manipulators
1 Introduction
2 Problem Formulation
2.1 Continuum Model of Elastic Cables
2.2 Equilibrium and Kinematically Compatible Configurations
3 Direct vs Inverse Approach
3.1 Mechanical Parameters of the Selected CDPMs
4 Conclusions
Acknowledgements
References
Part VII Calibration and Identification
28 Automatic Self-Calibration of Suspended Under-Actuated Cable-Driven Parallel Robot using Incremental Measurements
1 Introduction
2 Geometrico-StaticModelling
2.1 Kinematics
2.2 Statics
2.3 Forward Geometrico-Static Problem
3 Initial-Pose Estimation Problem
4 Data Acquisition Algorithm
5 Simulations and Experimental Results
5.1 Simulation results
5.2 Experimental results
6 Conclusions
References
29 Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots
1 Introduction
2 Calibration
2.1 Eye-on-Hand Calibration
2.2 Generation of a List of Reachable Calibration Poses
3 Control
4 Experiment
4.1 Trials and results
4.2 Discussion
5 Conclusion
Acknowledgments
References
30 On the automatic calibration of redundantly actuated cable-driven parallel robots
1 Introduction
2 Kinematic Modeling
2.1 General structure of CDPRs
2.2 Inverse geometrics
3 Calibration Method
3.1 Differential kinematics
3.2 The calibration model
4 Numerical Example
5 Conclusion
6 Acknowledge
References
31 Towards a Precise Cable-Driven Parallel Robot - A Model-Driven Parameter Identification Enhanced by Data-Driven Position Correction
1 Introduction
2 Modeling
2.1 Robot Modeling
2.2 Radial Basis Functions
3 Model-driven Calibration
4 Data-Driven Correction
5 Results
5.1 2D Simulative Results
5.2 2D Experimental Results
5.3 3D Simulative Results
6 Conclusion and Future Work
References
Part VIII Applications
32 Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer
1 Introduction
2 Conception of Printing Cable Robot
2.1 Workspoace and Interference
3 Design and Implementation
3.1 Controller Structure
3.2 Hardware Design
4 Experimental Results
5 Conclusions
Acknowledgment
References
33 A Dual Joystick-Trackball Interface for Accurate and Time-Efficient Teleoperation of Cable-Driven Parallel Robots within Large Workspaces
1 Introduction
2 Background of CDPRs
3 Master Devices of the Dual Interface
3.1 P2V Configured Joystick Controller
3.2 Novel P2P Configured Trackball Controller
4 System Integration of a Dual Interface and CDPRs
4.1 Inputs Blending for the Dual Master Interface
4.2 Workspaces and Control of the CDPRs within Teleoperation
5 Results
5.1 Experimental Setup
5.2 Simulation and Results
6 Conclusion and Future Work
References
34 Active Vibration Damping of a Cable-Driven Parallel Manipulator Using a Multirotor System
1 Introduction
2 System Requirements
3 System Modelling and Design
3.1 Thrust force estimation
3.2 Mechanical Design
3.3 Electrical Design
3.4 Controller Design
4 Indoor Study of the Multirotor System
4.1 Indoor Testbed
4.2 Controller Evaluation
4.3 Vibration Damping Performance Evaluation
5 Conclusion
References
35 Reproduction of Long-Period Ground Motion by Cable Driven Earthquake Simulator Based on Computed Torque Method
1 Introduction
2 Composition of the earthquake simulator
3 Motion control based on the Computed Torque Method
3.1 Inverse Dynamics
3.2 The Computed Torque Method
3.3 Experimental identification of model parameters
4 Motion control experiment
4.1 Evaluation of the two-different control schemes with sinusoidal input
4.2 Capability of the system in reproducing actually observed seismic wave
5 Conclusion
References
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