Abstract
In this paper, a method is proposed to compute the so-called cable span, i.e. the space occupied by the cables when the robot is moving within its workspace. As the cables are attached to a mostly fixed point on the robot frame, the shape of the cable span is a generalized cone. We present an efficient method polar sorting to compute the surface of this cone. Furthermore, the found geometry of the cone is employed in the design of the cable anchor points in order to dimension its deflection capabilities and to compute a suitable orientation for the installation of the mechanical unit.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
The effort for this kind of sorting is \(\log (N)\) for each element and it is internally done when using associative containers such as dict in Python or map in C++.
References
Bouchard, S., Moore, B., Gosselin, C.: On the ability of a cable-driven robot to generate a prescribed set of wrenches. J. Mech. Robot. 2(1), 1–10 (2010)
Ebert-Uphoff, I., Voglewede, P.A.: On the connections between cable-driven parallel manipulators and grasping. In: 2004 IEEE International Conference on Robotics and Automation, New Orleans, pp. 4521–4526 (2004)
Ghasemi, A., Farid, M., Eghtesad, M.: Interference free workspace analysis of redundant 3D cable robots. In: 2008 World Automation Congress, pp. 1–6 (2008)
Gouttefarde, M., Gosselin, C.: On the properties and the determination of the wrench-closure workspace of planar parallel cable-driven mechanisms. In: Proceedings of the ASME Design Engineering Technical Conference, vol. 2, pp. 337–346 (2004)
Lamaury, J., Gouttefarde, M.: Control of a large redundantly actuated cable-suspended parallel robot. In: 2013 IEEE International Conference on Robotics and Automation, pp. 4659–4664 (2013)
Maeda, K., Tadokoro, S., Takamori, T., Hiller, M., Verhoeven, R.: On design of a redundant wire-driven parallel robot WARP manipulator. In: Proceedings of IEEE International Conference on Robotics and Automation, Detroit, MI, USA, pp. 895–900 (1999)
Merlet, J.P.: Analysis of the influence of wires interference on the workspace of wire robots. In: Advances in Robot Kinematics (ARK), pp. 211–218. Kluwer Academic Publishers, Sestri Levante (2004)
Miermeister, P., Lächele, M., Boss, R., Masone, C., Schenk, C., Tesch, J., Kerger, M., Teufel, H., Pott, A., Bülthoff, H.: The CableRobot simulator: large scale motion platform based on cable robot technology. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea (2016)
Perreault, S., Cardou, P., Gosselin, C., Otis, M.J.D.: Geometric determination of the interference-free constant-orientation workspace of parallel cable-driven mechanisms. ASME J. Mech. Robot. 2(3) (2010)
Pott, A.: Forward kinematics and workspace determination of a wire robot for industrial applications. In: Advances in Robot Kinematics (ARK), pp. 451–458. Springer (2008)
Pott, A.: Influence of pulley kinematics on cable-driven parallel robots. In: Advances in Robot Kinematics (ARK), pp. 197–204 (2012)
Pott, A., Bruckmann, T., Mikelsons, L.: Closed-form force distribution for parallel wire robots. In: Computational Kinematics, pp. 25–34. Springer, Heidelberg (2009)
Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., Verl, A.: IPAnema: a family of cable-driven parallel robots for industrial applications. In: Cable-Driven Parallel Robots, Mechanisms and Machine Science, pp. 119–134. Springer (2012)
Verhoeven, R.: Analysis of the workspace of tendon-based Stewart platforms. PhD thesis, University of Duisburg-Essen, Duisburg, Germany (2004)
Verhoeven, R., Hiller, M.: Estimating the controllable workspace of tendon-based Stewart platforms. In: Advances in Robot Kinematics (ARK), pp. 277–284. Springer, Portorož (2000)
Acknowledgements
The authors would like to thank the German Research Foundation (DFG) for financial support of the project within the Cluster of Excellence in Simulation Technology (EXC 310/1) at the University of Stuttgart.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Pott, A. (2018). Determination of the Cable Span and Cable Deflection of Cable-Driven Parallel Robots. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-61431-1_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61430-4
Online ISBN: 978-3-319-61431-1
eBook Packages: EngineeringEngineering (R0)