TY - GEN
T1 - On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots
AU - Izard, Jean Baptiste
AU - Gouttefarde, Marc
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2023
Y1 - 2023
N2 - By routing the cables that support and drive the mobile platform of a Cable-Driven Parallel Robot (CDPR) to the moving parts of an end-effector (EE) installed on said mobile platform, it is possible with combined motions of the winches of the CDPR to drive this EE, such as the opening and closing of a gripper. Compared to CDPRs without internal EE, the cable tension distribution is then modified. In this paper, the static equilibrium of a CDPR platform with an internal EE driven by the supporting cables is analyzed, showing that an additional platform wrench needs to be balanced when force is applied on the EE. Both the magnitude of the wrench on the EE degrees of freedom and the way the cables generate motion at the EE influence this additional platform wrench. Considering a cable configuration and an external wrench applied on the EE, several EE designs are proposed where the EE motion is driven by one or two cables leading to different results in terms of workspace and wrench feasibility.
AB - By routing the cables that support and drive the mobile platform of a Cable-Driven Parallel Robot (CDPR) to the moving parts of an end-effector (EE) installed on said mobile platform, it is possible with combined motions of the winches of the CDPR to drive this EE, such as the opening and closing of a gripper. Compared to CDPRs without internal EE, the cable tension distribution is then modified. In this paper, the static equilibrium of a CDPR platform with an internal EE driven by the supporting cables is analyzed, showing that an additional platform wrench needs to be balanced when force is applied on the EE. Both the magnitude of the wrench on the EE degrees of freedom and the way the cables generate motion at the EE influence this additional platform wrench. Considering a cable configuration and an external wrench applied on the EE, several EE designs are proposed where the EE motion is driven by one or two cables leading to different results in terms of workspace and wrench feasibility.
KW - Platform internal end-effector motion
KW - available wrench set analysis
KW - static equilibrium
KW - wrench-feasible workspace analysis
UR - https://www.scopus.com/pages/publications/85163932005
U2 - 10.1007/978-3-031-32322-5_11
DO - 10.1007/978-3-031-32322-5_11
M3 - Conference contribution
AN - SCOPUS:85163932005
SN - 9783031323218
T3 - Mechanisms and Machine Science
SP - 134
EP - 145
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 -