By Andreas Pott, Tobias Bruckmann
This quantity offers the end result of the second one discussion board to cable-driven parallel robots, bringing the cable robotic neighborhood jointly. It exhibits the recent principles of the energetic researchers constructing cable-driven robots. The ebook provides the state-of-the-art, together with either summarizing contributions in addition to newest learn and destiny recommendations. The ebook disguise all themes that are crucial for cable-driven robots:
Kinematics, Workspace and Singularity Analysis
Statics and Dynamics Cable Modeling
Control and Calibration
Prototypes, program stories and new program concepts.
Read Online or Download Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots PDF
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Additional info for Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots
The influence of the parameters K 1 and Sa are visualized in Figs. 4 and 5. The selection of measurement samples was done according to a D-optimal design of experiments giving a set of tuples (pM,i , rM,i ), i = 1 . . n D where n D is the number of measurements and rM,i is the ith error function for the parameter identification problem given by (12) ri (p) = F(p, xi ) − FM,i Fig. 4 Parameter sensitivity of K 1 An Elastic Cable Model for Cable-Driven Parallel Robots . . 23 Fig. 5 Parameter sensitivity of Sa Assuming only small deviations Δp it is possible to use linearization around p0 which gives the Jacobian Jrp .
If sij (Xq ) = sij (Xp ) and Aj Bj is intersecting Ai Bi , then we consider that a collision between the two cables i and j occurred. In this algorithm, for a m-cable CDPR, step 1 requires to compute sij in (2) Ncc times: m · (m − 1) (4) Ncc = 2 The algorithm stops if there exists any i, j for which a collision occurs (thus, the times of performing steps 2 and 3 is N2,3 ≤ Ncc ). The presented algorithm considers that given the two arbitrary poses Xp and Xq , if a collision is detected, then there exists no collision free trajectory that allows the CDPR mobile platform to move from pose Xp to pose Xq (regardless of any trajectory planning method).
So, at the transition point, coming say from cable configuration 123456, at least one of the tensions must be equal to 0. If the next cable configuration is 123457, while the robot is moving toward the transition point (with cable 7 slack) the controller starts coiling cable 7 so that at the transition point it has the exact length needed to be taut. Then cable 6 is quickly uncoiled and the control continues the movement using the 123457 configuration. The presented interval-analysis procedure has wide margins of improvement.