Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt

Jean Baptiste Izard

doi:10.1007/978-3-031-32322-5_9

Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt

Jean Baptiste Izard^*

^*Corresponding author for this work

Alted

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots
Editors	Stéphane Caro, Andreas Pott, Tobias Bruckmann
Publisher	Springer Science and Business Media B.V.
Pages	109-120
Number of pages	12
ISBN (Print)	9783031323218
DOIs	https://doi.org/10.1007/978-3-031-32322-5_9
Publication status	Published - 2023
Externally published	Yes
Event	6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 - Nantes, France Duration: 25 Jun 2023 → 28 Jun 2023

Publication series

Name	Mechanisms and Machine Science
Volume	132
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	6th International Conference on Cable-Driven Parallel Robots, CableCon 2023
Country/Territory	France
City	Nantes
Period	25/06/23 → 28/06/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Rotational workspace
available wrench set analysis
cable collisions
static equilibrium
wrench feasible workspace analysis

Access to Document

10.1007/978-3-031-32322-5_9

Cite this

Izard, J. B. (2023). Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt. In S. Caro, A. Pott, & T. Bruckmann (Eds.), Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots (pp. 109-120). (Mechanisms and Machine Science; Vol. 132). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-031-32322-5_9

Izard, Jean Baptiste. / Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt. Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. editor / Stéphane Caro ; Andreas Pott ; Tobias Bruckmann. Springer Science and Business Media B.V., 2023. pp. 109-120 (Mechanisms and Machine Science).

@inproceedings{5f9133ed6725411ca0eeb3feac8e3f29,

title = "Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt",

abstract = "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.",

keywords = "Rotational workspace, available wrench set analysis, cable collisions, static equilibrium, wrench feasible workspace analysis",

author = "Izard, \{Jean Baptiste\}",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 ; Conference date: 25-06-2023 Through 28-06-2023",

year = "2023",

doi = "10.1007/978-3-031-32322-5\_9",

language = "English",

isbn = "9783031323218",

series = "Mechanisms and Machine Science",

publisher = "Springer Science and Business Media B.V.",

pages = "109--120",

editor = "St{\'e}phane Caro and Andreas Pott and Tobias Bruckmann",

booktitle = "Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots",

address = "Germany",

}

Izard, JB 2023, Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt. in S Caro, A Pott & T Bruckmann (eds), Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol. 132, Springer Science and Business Media B.V., pp. 109-120, 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023, Nantes, France, 25/06/23. https://doi.org/10.1007/978-3-031-32322-5_9

Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt. / Izard, Jean Baptiste.
Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. ed. / Stéphane Caro; Andreas Pott; Tobias Bruckmann. Springer Science and Business Media B.V., 2023. p. 109-120 (Mechanisms and Machine Science; Vol. 132).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt

AU - Izard, Jean Baptiste

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

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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 -

Izard JB. Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt. In Caro S, Pott A, Bruckmann T, editors, Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. Springer Science and Business Media B.V. 2023. p. 109-120. (Mechanisms and Machine Science). doi: 10.1007/978-3-031-32322-5_9

Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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