TY - GEN
T1 - Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt
AU - Izard, Jean Baptiste
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2023
Y1 - 2023
N2 - When it comes to planning the operation of a cable-driven parallel robot, the Available Wrench Set (AWS) is a very useful tool, describing conditions for suitable payload positions in the platform frame for a described set of poses. However, this is only applicable when no platform tilt is involved, as tilting has an impact on the wrench components when the payload is not placed at the platform reference center. For the cases where rotations are required, which can be combined with translations, the principle of a support polyhedron, derived from the AWS, is proposed in order for the robot designer to know where a payload should be placed on the platform to ensure static equilibrium at the target pose or set of poses, including tilt. With the AWS being based on a admissible range of cable tensions, an improved model of sagging cable focused on collision avoidance between cables, yielding a minimum cable tension, is also proposed in the paper. These analytical tools are then used to give a comprehensive analysis of the Cogiro robot featuring combined rotations around horizontal axes.
AB - When it comes to planning the operation of a cable-driven parallel robot, the Available Wrench Set (AWS) is a very useful tool, describing conditions for suitable payload positions in the platform frame for a described set of poses. However, this is only applicable when no platform tilt is involved, as tilting has an impact on the wrench components when the payload is not placed at the platform reference center. For the cases where rotations are required, which can be combined with translations, the principle of a support polyhedron, derived from the AWS, is proposed in order for the robot designer to know where a payload should be placed on the platform to ensure static equilibrium at the target pose or set of poses, including tilt. With the AWS being based on a admissible range of cable tensions, an improved model of sagging cable focused on collision avoidance between cables, yielding a minimum cable tension, is also proposed in the paper. These analytical tools are then used to give a comprehensive analysis of the Cogiro robot featuring combined rotations around horizontal axes.
KW - Rotational workspace
KW - available wrench set analysis
KW - cable collisions
KW - static equilibrium
KW - wrench feasible workspace analysis
UR - https://www.scopus.com/pages/publications/85163934668
U2 - 10.1007/978-3-031-32322-5_9
DO - 10.1007/978-3-031-32322-5_9
M3 - Conference contribution
AN - SCOPUS:85163934668
SN - 9783031323218
T3 - Mechanisms and Machine Science
SP - 109
EP - 120
BT - Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots
A2 - Caro, Stéphane
A2 - Pott, Andreas
A2 - Bruckmann, Tobias
PB - Springer Science and Business Media B.V.
T2 - 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023
Y2 - 25 June 2023 through 28 June 2023
ER -
