scholarly journals Control of Cable Robots for Construction Applications

10.5772/5423 ◽  
2008 ◽  
Author(s):  
Alan Lytle ◽  
Fred Proctor ◽  
Kamel Saidi
Keyword(s):  
Cable Robots

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

Tension distribution shaping via reconfigurable attachment in planar mobile cable robots

Robotica ◽  
2013 ◽  
Vol 32 (2) ◽  
pp. 245-256 ◽  
Author(s):  
Xiaobo Zhou ◽  
Seung-kook Jun ◽  
Venkat Krovi
Keyword(s):  
Mobile Robots ◽  
Configuration Space ◽  
Optimization Problem ◽  
Null Space ◽  
Experimental Studies ◽  
Analysis Framework ◽  
Tension Distribution ◽  
Fixed Base ◽  
Tension Direction ◽  
Cable Robots

SUMMARYTraditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-direction (via active coordination of mobile bases) and allowed for better conditioning of the wrench-feasible workspace. In this paper we explore putting idler pulleys on the payload attachment as alternate means to simplify the design and enable practical deployment. We examine analysis of the system using ellipse geometry and develop a virtual cable-subsystem formulation (which also facilitates subsumption into the previously developed mobile cable robot analysis framework). We also seek improvement of the tension distribution by utilizing configuration space redundancy to shape the tension null space. This tension distribution shaping is implemented in the form of a tension factor optimization problem over the workspace and explored via both simulation and experimental studies.

Deflection Maps of Elastic Catenary Cable-Driven Robots

2019 ◽  
Author(s):  
Leila Notash
Keyword(s):  
Center Of Mass ◽  
Cross Sectional Area ◽  
Sectional Area ◽  
Cable Model ◽  
Cross Sectional ◽  
Cable Tension ◽  
Cable Properties ◽  
Manipulator Design ◽  
Deflection Limit ◽  
Cable Robots

Abstract In this paper, the cable tension and platform deflection of cable-robots are investigated. The significance of cable density, elasticity and cross-sectional area; platform mass, radius and center of mass; external wrench and platform orientation on the cable tension, platform deflection and workspace of the planar cable robots is investigated. It is shown that, in addition to cable mass, the effect of external wrench on the workspace of catenary cable model could be more prominent. Moreover, design issues and parameters affecting the manipulator deflection are examined, and those that would result in disjointed workspace regions and deflection maps are identified. It is presented that the change in deflection is gradual throughout the workspace for constant external wrench. For the catenary model, depending on the cable properties, platform orientation, manipulator design, and external wrench, the workspace with deflection limit may consist of disconnected regions.

Synchronous Position Control of Robotics System for Infrastructure Inspection Moving on Rope Tether

2019 ◽  
Vol 31 (2) ◽  
pp. 317-328 ◽  
Author(s):  
Makpal Sarieva ◽  
◽  
Lei Yao ◽  
Kei Sugawara ◽  
Tadashi Egami
Keyword(s):  
Control System ◽  
Wireless Communication ◽  
Disturbance Observer ◽  
Visual Inspection ◽  
Mobile Robotics ◽  
Position Control ◽  
Three Dimensional ◽  
Inspection Systems ◽  
Infrastructure Inspection ◽  
Cable Robots

Most bridges, tunnels, dams, and other infrastructure facilities were constructed in the 1950s to 1960s. At present, aging in these facilities is a social problem. Most of the maintenance check-ups of these infrastructure facilities are manually conducted by close visual inspection, which has limitations. As a result, there have been many proposals on inspection systems for unmanned infrastructure facilities, such as drones and cable robots. However, there are also problems with the use of cable robots and drones, such as restrictions in places that they can be used and effects from the environment. Thus, this study proposes a robotics system for infrastructure inspection that solves such problems. Two robots move on parallel ropes stretching in an H shape, and one robot with a three-dimensional gimbal and camera moves on a rope stretching between those robots. At this time, the three robots are capable of efficient, highly accurate wide-ranging observation by carrying out synchronous position control using wireless communication. The control system has optimum synchronous position capabilities and uses a disturbance observer. Regarding this infrastructure inspection robotics system, this study discusses the development of three mobile robotics systems and the synchronous position control of two robots.

Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots

2018 ◽  
Author(s):  
Marc Fabritius ◽  
Christoph Martin ◽  
Andreas Pott
Keyword(s):  
3D Printing ◽  
Cross Sections ◽  
Parallel Robots ◽  
Cable Robot ◽  
The Cross ◽  
3D Volume ◽  
Horizontal Layers ◽  
Cable Robots

Using fully-constrained cable robots as manipulators for 3D-printing, there is the risk of collisions between the cables and the printing part. This paper presents a method to calculate the shape of the workspace volume within which a part can be printed without such collisions. The presented method is based on the fact that the printing part is produced in a sequence of horizontal layers. The areas occupied by the cables in the layers are scaled similar mappings of the cross-sections of the printing part. There is no collision if the 2D-shapes occupied by the cables in the printing layer do not overlap with the cross-sections of the printing part in the same layer. A procedure to find the largest printable 2D-shapes within the class of parallelograms for each layer is developed. The maximum printable 3D-volume is then given by stacking the 2D-shapes of each layer. Figures show the results of the method applied on the cable robot IPAnema 3. Finally, a guideline for the design of fully-constrained cable robots to maximize their printable volume is given.

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