Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
A New 3T Parallel Mechanism: Topological Design, Analysis and Symbolic Position Solutions Read chapter Read first chapter

2020 | OriginalPaper | Chapter

An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys

Authors : Marc Fabritius, Andreas Pott

Published in: New Trends in Mechanism and Machine Science

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

A key advantage of cable-driven parallel robots, compared to other robot types, is their large workspace. Despite this fact, experiments in previous works have shown that cable-driven parallel robots often cannot fully realize their theoretically estimated workspace in practice.
To remedy this shortcoming, a new inverse kinematic code is developed which considers the previously neglected effects of both cable sagging and pulleys. For a realistic exemplary robot, the new kinematic code yields a \(19.5\%\) larger wrench-feasible workspace volume for the catenary-pulley model than previous codes. This result shows that the effects of cable sagging and pulleys should be considered in the kinematic codes, especially for large cable-driven parallel robots.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
previous chapter Counter-Rotating Savonius Wind Turbine
next chapter Motion Generation for a Cable Based Rehabilitation Robot
Literature
1.
Gouttefarde, M., Nguyen, D.Q., Baradat, C.: Kinetostatic analysis of cable-driven parallel robots with consideration of sagging and pulleys. In: Advances in Robot Kinematics (ARK), pp. 213–221 (2014)
2.
Irvine, H.: Cable Structures. MIT Press, Cambridge (1981)
3.
Kozak, K., Zhou, Q., Wang, J.: Static analysis of cable-driven manipulators with non-negligible cable mass. IEEE Trans. Rob. 22(3), 425–433 (2006)CrossRef
4.
Kraus, W.: Force control of cable-driven parallel robots. Ph.D. thesis, University of Stuttgart, Germany (2015)
5.
Merlet, J.P.: On the inverse kinematics of cable-driven parallel robots with up to 6 sagging cables. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4356–4361. IEEE (2015)
6.
Pott, A.: Influence of pulley kinematics on cable-driven parallel robots. In: Advances in Robot Kinematics (ARK), pp. 197–204 (2012)
7.
Pott, A.: An improved force distribution algorithm for over-constrained cable-driven parallel robots. In: Computational Kinematics, vol. 15, pp. 139–146. Springer (2014)
8.
Pott, A.: Cable-Driven Parallel Robots: Theory and Application. Springer Tracts in Advanced Robotics, vol. 120. Springer (2018)
9.
Pott, A.: Wirex - an open source initiative scientific software for analysis and design of cable-driven parallel robots (2019)
10.
Riehl, N., Gouttefarde, M., Krut, S., Baradat, C., Pierrot, F.: Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. In: 2009 IEEE International Conference on Robotics and Automation, pp. 2193–2198. IEEE (2009)
11.
Verhoeven, R.: Analysis of the workspace of tendon based stewart platforms. Ph.D. thesis, University of Duisburg-Essen (2004)
Metadata
Title
An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys
Authors
Marc Fabritius
Andreas Pott
Copyright Year
2020
Book
New Trends in Mechanism and Machine Science

Print ISBN: 978-3-030-55060-8

Electronic ISBN: 978-3-030-55061-5

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-55061-5_48

Premium Partners

    Image Credits