A method for simultaneous control of speed and torque of the. A robot must obey the orders given by human beings, except when such orders conflict with the first law. A robot must protect its own existence as long as it does not conflict with the first or second laws. Backstepping sliding mode robust control for a wiredriven. Cablesuspended parallel manipulators have been a topic of research for multiple decades and called special attention in the fields of a simul tions 1. Sliding mode control of cabledriven redundancy parallel. In the case with redundant cables, feedback control laws. Performance indices are defined to measure the different. Because dahl friction has nonlinear characteristics, the actual tension set problem was solved using the newtonraphson method combined with the constrained nonlinear multivariable optimal method. In contrast, cable suspended parallel robots or csprs are able to handle large loads and traverse great distances as required on building construction sites. A robot may not harm a human or, through inaction, allow a human to come to harm.
This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cablesuspended parallel robots. Cablesuspended parallel robot cpr, in which cables are utilized to replace links to manipulate objects, is developed from parallel and serial cabledriven robot. In this paper, a new mobile cabledriven parallel robot is proposed by mounting a spatial cable robot on a wheeled mobile robot. Carricato 2011 studied the kinematics and statics of underconstrained cable driven parallel robots with less than six cables in crane configuration. Simulations results are presented as well as experiments, conducted on a novel underconstrained four cable suspended mobile robot. Pdf a survey of cablesuspended parallel robots and their. Oscillation reduction and frequency analysis of under.
This paper shows an experimental validation for the design of a threedegreeoffreedom dof cable suspended parallel robot, which has six cables attached to the endeffector, arranged in three. Modelling of flexible cabledriven parallel robots using a rayleighritz approach. Tension analysis of a 6degreeoffreedom cabledriven. Cable driven parallel robots cdprs possess a lot of advantages over conventional parallel manipulators and linkbased robot manipulators in terms of acceleration due to their low inertia. A cablesuspended parallel robot utilizes the basic idea of stewart platform but replaces parallel links with cables and linear actuators with winches. This paper attempts to tackle some aspects of optimal design of a 6dof cable robot by addressing the variations of the workspace volume. With the aid of interval analysis, a set of algebraic inequalities is obtained to establish the relationship between the cables tension constraints and the controller parameters. Cabledriven parallel robots proceedings of the third international conference on cabledriven parallel robots. Based on a nonlinear disturbance observer, a backstepping sliding mode robust control is proposed for a wiredriven parallel robot wdpr system used in the wind tunnel test to dominate the motion of the end effector.
However, many parts of manufacturing and engineering does not put upon robots, mainly due to the weakness of conventional robots 1. Cablesuspended parallel robot marc gouttefarde, member, ieee, jeanfranc. The vector from the bottom of the frame to the center of the endeffector is denoted as g, and e n is the vector from the center of endeffector to the connection point. Computed torque control of a twodof cablesuspended. Cable suspended parallel robots are slightly different from the traditional parallel robots. Dynamic modeling and active control of a cablesuspended. However, they are also wellsuited for the simple evaluation of aerialbased mobile robot olfaction mro algorithms, such as gas source localization and gas distribution mapping. Index termscablesuspended planar parallel robot, positive cable ten sion, redundancy. Design and development of a reconfigurable cable parallel robot. Openloop position control of a polymer cabledriven. This study develops a mdof cabledriven parallel robot with suspended endeffector.
Parallel and cable robotics aras hitech robotic solutions. Design, analysis and control of cablesuspended parallel robots. In comparison with other parallel robots, they bene t from features such as larger workspace, lower. More troubling, certain parallel robot singularities lead to an additional, uncontrolled degreeoffreedom which obviously must be avoided. In this paper, we study the design and workspace of a 66 cable suspended parallel robot. Cablesuspended refers here to cabledriven parallel robots in a cranelike setting, where all the cable drawing points are located on top of the base frame, gravity being used to keep the cables. Design, analysis and control of cablesuspended parallel. The trajectory of the rfcpr rigid ftype cable suspended parallel robot has been used as the reference trajectory of the efcpr. Despite the intense development of cabledriven robot in recent years, they have not yet. The rst cable robot was designed and manufactured by albus, and after that, a vast variety of this kind of parallel robots with di erent geometrical con guration were developed rapidly.
This is the first conference to bring together the cable robot community and dedi. Gouttefarde, control of a large redundantly actuated cablesuspended parallel robot, in international conference on robotics and automation. In addition, the elasticity and uncertainties of a cdpr were neutralized by robust control, and the flexibility and uncertainties of cable suspended robot were compensated using sliding mode control. Cable suspended parallel robot cpr, in which cables are utilized to replace links to manipulate objects, is developed from parallel and serial cable driven robot. Dynamic analysis and control of cable driven robots with.
Motion planning algorithm for a mobile robot suspended by. Sliding mode set point control of a sixdof cablesuspended. Introduction parallel robots have become a large area of interest in the field of robotics. Pdf design and control of a suspended cabledriven parallel. Wdpr have been introduced in the 80s landsberger and sheridan, 1985,miura and furuya, 1984 as an alternate to parallel robot with rigid links.
Cabledriven parallel robots cdprs possess a lot of advantages over conventional parallel manipulators and linkbased robot manipulators in terms of acceleration due to their low inertia. Jointspace position control of a deployable cable driven robot in joint space using force sensors and actuator encoders s. Pdf this paper presents the state of the art of design and control of a new suspended underconstrained cabledriven parallel robot with four. The trajectory of the rfcpr rigid ftype cablesuspended parallel robot has been used as the reference trajectory of the efcpr. Keywordscontrol, dynamics, kinematics, parallel robot, cablesuspended robot i. Cablesuspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the endeffector but not push it. On the workspace of suspended cabledriven parallel robots. Serial, aerial and solidlinked parallel robots are unable to handle large payloads in buildingscale workspaces for onsite applications and are thus best suited for automated fabrication in plant settings.
The significant difference between regular parallel robots and cablesuspended parallel robots is that the cables in cablesuspended robots can only carry tension forces 3. Computed torque control of a cable suspended parallel robot. Pdf on dec 1, 2016, fereshteh shahmiri and others published a survey of cablesuspended parallel robots and their applications in. Tracking control and vibration reduction of exible cable. The wdpr is subject to different types of disturbances, and these. Geometry selection of a redundantly actuated cablesuspended. However, their methods need to measure some feedback signals to build up. Cable suspended parallel robots or csprs are a class of. Pdf on the workspace of suspended cabledriven parallel. This video presents a planar parallel threedegreeoffreedom cabledriven robot with different planned trajectories.
Contribution to modelling the cablesuspended parallel robot intended for application in greenhouses ljubinko kevac, mirjana filipovic, and aleksandar rakic doi. This paper proposes a dynamic pointtopoint trajectory planning technique for three degreesoffreedom dofs cablesuspended parallel robots. Control of a large redundantly actuated cablesuspended parallel. Model predictive control of largedimension cabledriven. Cablesuspended planar parallel robots with redundant cables. In this paper, a new mobile cable driven parallel robot is proposed by mounting a spatial cable robot on a wheeled mobile robot.
The elastic ftype cablesuspended parallel robot in the. Parallel robots most of the robots discussed so far are serial robot arms, where joints and links are constructed in. Randomized kinodynamic planning for cablesuspended. This study develops a mdof cable driven parallel robot with suspended endeffector. A method for simultaneous control of speed and torque of. Jun 26, 2006 a cable suspended parallel robot utilizes the basic idea of stewart platform but replaces parallel links with cables and linear actuators with winches. This system includes all the advantages of cable robots such as high ratio of payload to weight and good stiffness and accuracy while its deficiency of limited workspace is eliminated by the aid of its mobile chassis. A survey of cablesuspended parallel robots and their. Collisionfree kinodynamic planning for cablesuspended parallel robots 3 2 a kinodynamic motion planner the planning of dynamic motions typically takes place in the state space of the robot, i. This paper proposes a dynamic pointtopoint trajectory planning technique for three degreesoffreedom dofs cable suspended parallel robots.
Robot dynamics with ideal cables in this section let us first assume that the mass and flexibility of the cables can be ignored. Jelena radojicic and nick bremer partiii control robust internal forcebased impedance control for cabledriven parallel. Dynamic pointtopoint trajectory planning for three degrees. Serial, aerial and solidlinked parallel robots are unable to handle large payloads in buildingscale workspaces. Design, analysis and control of cablesuspended parallel robots and its. From their relationships, a modified kinematic equation was developed for redundant actuation cabledriven parallel robot systems. Cabledriven parallel robots proceedings of the third. The control of cablesuspended parallel robots is quite challenging due to the unidirectional constraint of cable tensions. This paper deals with underconstrained cdprs, which manipulate the endeffector to carrying the payload by using a number of cables less than six, often.
The structure of this paper is organized as follows. Dynamics and control of cablesuspended parallel robots for. Randomized kinodynamic planning for cablesuspended parallel. Nov 03, 2017 this video is intended to demonstrate a prototype robot built for my university capstone project submitted 31117.
Control of a large redundantly actuated cablesuspended. In contrast, cable suspended parallel robots or csprs are able to handle large loads and traverse great. Mathematically, its value is equal to the difference. This robot is a kind of parallel robot in which the ende ector is controlled using several parallel cables that are elongated by. The dynamics of cable driven robot under this assumption reduces to that of the endeffector. Given two mechanical states of the robot, both with a prescribed position and velocity, the method attempts to connect them by a collisionfree trajectory that respects the joint and force limits of the actuators, keeps the cables in tension, and takes. Introduction in recent years, additive manufacturing am has transitioned from a niche industry to a truly mainstream technology. Critical issues for the implementation of csprs on construction sites include complexities in cable robot kinematics, the tradeoff between.
Some reported research on cable suspended robots are nist robocrane 1, ultrahigh speed robot, tendondriven stewart platforms, parallel wire mechanism for measuring a robot pose, controller designs for cable suspended robot 2, and design and workspace analysis of planar cable suspended. A survey of cablesuspended parallel robots and their applications in architecture and construction, p. The cable length vector l n is derived from the vector shown in equation 2. It is important that both kinematic and dynamic modeling of these systems is. On the design of a threedof cablesuspended parallel robot based on a parallelogram arrangement of the cables. This paper studies how emergencies and failures can be managed in cable driven parallel robots, in particular in the case of a redundant cable suspended robot subjected to a cable breakdown. From a scientific point of view, this feature makes feedback control of cablesuspended robots lot more challenging than their counterpart parallelactuated robots. The cooperative variation of lengths of six cables pulls the feed cabin to track radio source with six. Introduction cablesuspended parallel robots have parallel cabledriven mechanisms which consist of a set of.
Third international conference on cabledriven parallel. Pdf a survey of cablesuspended parallel robots and. The concept of applying a cable suspended parallel robot into the construction and maintenance of giant telescope is presented in this paper. In this paper, a reconfigurable cable parallel robot rcpr is designed and the experimental prototype is conducted based on the concept of reconfigurable robot. Dynamic pointtopoint trajectory planning for three.
Cablesuspended parallel robot is a type of parallel robot, where the links are replaced with cables connecting the actuators electric motors to the ende ector. This video is intended to demonstrate a prototype robot built for my university capstone project submitted 31117. This paper shows an experimental validation for the design of a threedegreeoffreedom dof cablesuspended parallel robot, which has six cables attached to the endeffector, arranged in three. Unlike fully constrained cabledriven parallel mechanisms, cablesuspended parallel mechanisms are not redundantly actuated and usually have the same number of actuated cables as the degrees of freedom.
Pdf the elastic ftype cablesuspended parallel robot in. In the control design of the efcpr trajectory tracking the only disturbance is the elastic characteristic of the ropes, which are unknown at the reference trajectory. Introduction in the recent decades, robots have been utilized in vast area of industries. Design and workspace analysis of a 66 cablesuspended. Cable suspended parallel robot is a type of parallel robot, where the links are replaced with cables connecting the actuators electric motors to the ende ector. Design and control of a suspended cabledriven parallel robot with four cables. The upperlevel control is responsible for tracking the suspended end. This book presents proceedings of the third international conference in this field, continuing the success of the previous events. In a cable suspended parallel robot, the moving platform mp is suspended and manipulated by the attached cables that are connected to the base.
Dynamics and control of cablesuspended parallel robots. From a scientific point of view, this feature makes feedback control of cable suspended robots lot more challenging than their counterpart parallel actuated robots. Pdf on the workspace of suspended cabledriven parallel robots. This paper deals with the control of a 6dof cablesuspended parallel robot cspr able to perform tasks such as pickandplace trajectories over a. Cablesuspended planar parallel robots with redundant. Optimal control of a wheeled mobile cabledriven parallel. This is a radical, new at the time, robot concept in that the entire motive structure of the robot is lightweight, stiff, strong, efficient cables, torqued by electric motors driving a cable reel, often over overhead pulleys. Pdf randomized kinodynamic planning for cablesuspended parallel robots. This paper presents the design of a computed torque controller for a twodegreeoffreedom two dof cablesuspended parallel mechanism. Design and development of a reconfigurable cable parallel.
The proposed technique is capable of generating feasible multipleswing trajectories that reach points beyond the footprint of the robot. Some reported research on cablesuspended robots are nist robocrane 1, ultrahigh speed robot, tendondriven stewart platforms, parallel wire mechanism for measuring a robot pose, controller designs for cablesuspended robot 2, and design and workspace analysis of planar cablesuspended. On the design of cablesuspended planar parallel robots. Cable suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the endeffector but not push it. The control method combines both the merits of backstepping control and sliding mode robust control. Actapress, technical publications, robotics and automation.
Geometry selection of a redundantly actuated cable. A survey of cablesuspended parallel robots and their applications in architecture and construction. Index termscabledriven robots, cablesuspended robots, dynamics, parallel robots, path planning for manipulators. Cable suspended parallel manipulators have been a topic of research for multiple decades and called special attention in the fields of a simul tions 1. Design and control of a suspended cabledriven parallel. Cabledriven parallel robots comprise driven actuators that allow controlled cables to. Design and implementation of a multidegreesoffreedom cable. The conference took place 2017 in quebec, qc, canada. It presents and analyzes several typical mechanical architectures of cablesuspended parallel robots in. Implementation and control for an mdof cable suspended. Algae harvesting from large outdoor ponds using a novel. This robot is a kind of parallel robot in which the ende ector is controlled using several parallel cables that are elongated by the aid of motors. This book provides an essential overview of the authors work in the field of cablesuspended parallel robots, focusing on innovative design, mechanics, control, development and applications.
In this paper, we study the design and workspace of a 66 cablesuspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the mp mp can reach with tensions in all suspension cables at a constant orientation. The systems for observation of the workspace with moving objects have been developed and analyzed worldwide in various research areas and for different purposes. Jun 10, 2015 this video presents a planar parallel threedegreeoffreedom cable driven robot with different planned trajectories. Under the control scheme of task space coordinates, the cable length obtained by the cablelength sensor is used to solve the forward kinematics of the cabledriven redundancy parallel robot in realtime, which is treated as the feedback for.
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