Kinematic Modeling And Workspace Analysis Of A Spatial Cable Suspended Robot As Incompletely Restrained Positioning Mechanism

• Main Authors: Jahanbakhsh Hamedi, Zohoor, Hassan
• Format: Text
• Language: English
• Published: Zenodo 2008
• Subjects: Kinematic modeling; applied wrench; workspace; cable based robot.; Arctic; Gorman
• Online Access: https://dx.doi.org/10.5281/zenodo.1082408; https://zenodo.org/record/1082408

This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed and moving platform is obtained. This workspace is defined as the situations of reference point of the moving platform (center of mass) which under external forces such as weight and with ignorance of inertial effects, the moving platform should be in static equilibrium under conditions that length of all cables must not be exceeded from the maximum value and all of cables must be at tension (they must have non-negative tension forces). Then the effect of various parameters such as the size of moving platform, the size of fixed platform, geometric configuration of robots, magnitude of applied forces and moments to moving platform on workspace of these robots with different geometric configuration are investigated. Obtained results should be effective in employing these robots under different conditions of applied wrench for increasing the workspace volume. : {"references": ["Dagalakis, Nicholas G., Albus, James S., Wang, Ben-Li, Unger, Joseph,\nand Lee, James D., \"Stiffness study of a parallel link robot crane for\nshipbuilding applications\", ASME Journal of Offshore Mechanics and Arctic\nEngineering, 111(3),pp.183-193, August 1989.", "J.Hamedi, H.Zohoor, \"Simulation and Optimization of the Rectangular\nStewart Cable-Suspended Robot\", The 13th IASTED International Conference\non Robotics , Applications and Telematics,Germany,Wurzburg, 2007,\npp. 400-407.", "Tanaka, M., Seguchi, Y., and Shimada, S. ,\"Kineto-statics of skycam-type\nwire transport system\", In Proc. USA-Japan Symposium on Flexible\nAutomation, Crossing Bridges:Minneapolis, Minnesota, 1988, pp.689-694.", "Takeda, Y. and Funabashi, H., \"Kinematic Synthesis of Spatial In-parallel\nWire-Driven Mechanism with Six Degrees of Freedom with High Force\nTransmissibility\", Proceeding of ASME Design Engineering Technical\nConferences, Baltimore, 2000.", "Yang, L. F., Martin, M. M., and Chiou, J. C., \"Stability and 3-D Spatial\nDynamics Analysis of a Three Cable Crane\", American Society Aeronautics\nand Astronautics , 2000 , 2069-2076.", "Verhoeven, R., Hiller, M., and Tadokoro, S., \"Workspace, Stiffness,\nSingularities and Classification of Tendon-Driven Stewart Platforms\",6th\nInternational Symposium on Robot Kinematics, Strobl, Austria, 1998,\npp.105-114.", "W. J. Shiang, D. Cannon, & J. Gorman, \"Optimal force distribution\napplied to a robotic crane with flexible cables\", Proceeding of 2000 IEEE\nConference on Robotics and Automation, San Francisco,California, 2000,\npp. 1948-1954.", "C.B. Pham, S.H. Yeo, G. Yang, M.Sh. Kurbanhusen, & I.M. Chen,\n\"Force-Closure Workspace Analysis of Cable-Driven Parallel Mechanisms\",\nMechanism and Machine Theory, 41, pp.53-69, 2006.", "X. Diao, & O. Ma, \"A method of verifying force-closure condition for\ngeneral cable manipulators with seven cables\", Mechanism and Machine\nTheory, 42, pp.1563-1576, 2007."]}