Design and Calculation of Cable Distribution System for CDPR
Corressponding author's email:
thotp@hcmute.edu.vnDOI:
https://doi.org/10.54644/jte.2024.1486Keywords:
Cable winch, Cable robot, Tension measurement, Cable parallel robot, Cable robot simulationAbstract
This article presents the design and calculation of a cable distribution system used for large-sized cable robots. The main function of the cable distribution system is to convert the rotational motion of the motor shaft into the translational motion of the cable with constraints on position, velocity and cable tension. With a clear relationship between cable length and motor angle, the cable distribution system is designed to guarantee that cables are fully distributed and oriented. The main contributions of the research are as follows: Designing a cable distribution system with a built-in mechanism for measuring cable tension; Building cable distribution system mathematical models, incorporating the results into a mathematical model of a 6-degree-of-freedom CDPR configuration powered by 8 cables and simulating the computational results. The analysis findings suggest that the structure of the cable distribution system meets the design specifications and is suitable for developing actuators in cable robot applications that involve heavy loads and large sizes.
Downloads: 0
References
T. P. Tho and N. T. Thinh, "An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging," Mathematical Problems in Engineering, vol. 2022, pp. 1-15, 2022. DOI: https://doi.org/10.1155/2022/2199748
V. Mattioni, E. Idà, and M. Carricato, "Force-distribution sensitivity to cable-tension errors in overconstrained cable-driven parallel robots," Mech. Mach. Theory, vol. 175, p. 104940, 2022. DOI: https://doi.org/10.1016/j.mechmachtheory.2022.104940
C. H. K. Dao, T. P. Tho, N. D. Vu, and M. N. Nguyen, "On Research of Cable Tension Distribution Algorithm for Four Cables-Three DOF Planar Cable-Driven Parallel Robot," Journal of Technical Education Science, vol. 78B, pp. 8-17, 2023. DOI: https://doi.org/10.54644/jte.78B.2023.1312
T. Bruckmann et al., "An energy-efficient wire-based storage and retrieval system," in Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 9–12 July 2013, pp. 631–636. DOI: https://doi.org/10.1109/AIM.2013.6584163
K. Iturralde et al., "Cable-driven parallel robot for curtain wall module installation," Autom. Constr., vol. 138, p. 104235, 2022. DOI: https://doi.org/10.1016/j.autcon.2022.104235
D. Lin et al., "Dynamically-Feasible Trajectories for a Cable-Suspended Robot Performing Throwing Operations," in ROMANSY 23—Robot Design, Dynamics and Control, G. Venture et al., Eds. Springer International Publishing, 2021, pp. 547–555. DOI: https://doi.org/10.1007/978-3-030-58380-4_65
T. P. Tho and N. T. Thinh, "Using a cable-driven parallel robot with applications in 3D concrete printing," Applied Sciences, vol. 11, no. 2, p. 563, 2021. DOI: https://doi.org/10.3390/app11020563
E. Idà, S. Briot, and M. Carricato, "Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables," in Advances in Robot Kinematics 2020, J. Lenarcic and B. Siciliano, Eds. Springer International Publishing, 2021, pp. 65–72. DOI: https://doi.org/10.1007/978-3-030-50975-0_9
E. Idà and M. Carricato, "A New Performance Index for Underactuated Cable-Driven Parallel Robots," in Cable-Driven Parallel Robots, M. Gouttefarde et al., Eds. Springer International Publishing, 2021, pp. 24–36. DOI: https://doi.org/10.1007/978-3-030-75789-2_3
J. P. Merlet, "Comparison of Actuation Schemes for Wire-Driven Parallel Robots," in New Trends in Mechanism and Machine Science, F. Viadero and M. Ceccarelli, Eds. Springer, 2013, pp. 245–254. DOI: https://doi.org/10.1007/978-94-007-4902-3_26
L. Scalera et al., "Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums," IEEE Trans. Robot., vol. 34, pp. 474–485, 2018. DOI: https://doi.org/10.1109/TRO.2018.2791593
S. Seriani and P. Gallina, "Variable Radius Drum Mechanisms," J. Mech. Robot., vol. 8, p. 021016, 2015. DOI: https://doi.org/10.1115/1.4031951
M. S. Varziri and L. Notash, "Kinematic calibration of a wire-actuated parallel robot," Mech. Mach. Theory, vol. 42, pp. 960–976, 2007. DOI: https://doi.org/10.1016/j.mechmachtheory.2006.07.007
J. P. Merlet, "Kinematics of the wire-driven parallel robot MARIONET using linear actuators," in Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 19–23 May 2008, pp. 3857–3862. DOI: https://doi.org/10.1109/ROBOT.2008.4543803
T. P. Tho and N. T. Thinh, "Evaluating cable tension distributions of CDPR for virtual reality motion simulator," Mechanics Based Design of Structures and Machines, vol. 0, pp. 1-19, 2023, doi: 10.1080/15397734.2023.2265452. DOI: https://doi.org/10.1080/15397734.2023.2265452
J. Lamaury and M. Gouttefarde, "Control of a large redundantly actuated cable-suspended parallel robot," in 2013 IEEE International Conference on Robotics and Automation, 2013, pp. 4659-4664. DOI: https://doi.org/10.1109/ICRA.2013.6631240
Downloads
Published
How to Cite
Issue
Section
Categories
License
Copyright (c) 2024 Journal of Technical Education Science
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Copyright © JTE.
