OPTIMAL KINEMATIC REDUNDANCY PLANNING FOR PLANAR MOBILE CABLE-DRIVEN PARALLEL ROBOTS

被引：0
|
作者：
Rasheed, Tahir [1 ]
Long, Philip [2 ]
Marquez-Gamez, David [3 ]
Caro, Stephane [4 ]
机构：
[1] Ecole Cent Nantes, Lab Sci Numer Nantes, UMR CNRS 6004, 1 Rue Noe, F-44321 Nantes, France
[2] Northeastern Univ, RIVeR Lab, Dept Elect & Comp Engn, Boston, MA 02115 USA
[3] IRT Jules Verne, Chemin Chaffault, F-44340 Bouguenais, France
[4] CNRS, UMR CNRS 6004, Lab Sci Numer Nantes, 1 Rue Noe, F-44321 Nantes, France
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5B | 2018年
关键词：
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCDPRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.
引用
收藏
页数：10
相关论文
共 50 条
  • [1] On the Redundancy of Cable-Driven Parallel Robots
    Merlet, J. -P.
    [J]. NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS, 2015, 24 : 31 - 39
  • [2] Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots
    Rasheed, Tahir
    Long, Philip
    Marquez-Gamez, David
    Caro, Stephane
    [J]. ADVANCES IN ROBOT KINEMATICS 2018, 2019, 8 : 410 - 418
  • [3] Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots
    Rasheed, Tahir
    Long, Philip
    Marquez-Gamez, David
    Caro, Stephane
    [J]. 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 962 - 967
  • [4] Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots
    Rasheed, Tahir
    Long, Philip
    Marquez-Gamez, David
    Caro, Stephane
    [J]. CABLE-DRIVEN PARALLEL ROBOTS, 2018, 53 : 268 - 279
  • [5] Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots
    Rasheed, Tahir
    Long, Philip
    Roos, Adolfo Suarez
    Caro, Stephane
    [J]. 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, : 6788 - 6793
  • [6] Optimal RRT* Planning and Synchronous Control of Cable-Driven Parallel Robots
    Zhang, Bin
    Shang, Weiwei
    Cong, Shuang
    [J]. 2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM), 2018, : 95 - 100
  • [7] Singularity Analysis of Planar Cable-Driven Parallel Robots
    Diao, Xiumin
    Ma, Ou
    Lu, Qi
    [J]. 2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 1016 - 1021
  • [8] A collaborative path planning method for mobile cable-driven parallel robots in a constrained environment with considering kinematic stability
    Xu, Jiajun
    Kim, Byeong-Geon
    Park, Kyoung-Su
    [J]. COMPLEX & INTELLIGENT SYSTEMS, 2023, 9 (05) : 4857 - 4868
  • [9] A collaborative path planning method for mobile cable-driven parallel robots in a constrained environment with considering kinematic stability
    Jiajun Xu
    Byeong-Geon Kim
    Kyoung-Su Park
    [J]. Complex & Intelligent Systems, 2023, 9 : 4857 - 4868
  • [10] Calibration algorithm of kinematic parameters of cable-driven parallel robots
    Ding, Yixiao
    Zhao, Xiaotong
    Zhang, Yongnian
    Xiao, Maohua
    Wang, Xiaochan
    [J]. International Agricultural Engineering Journal, 2019, 28 (03): : 363 - 370
12345