Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism
Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connecti...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Jin, XueJun [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2018 |
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| Schlagwörter: |
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| Anmerkung: |
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of mechanical science and technology - Berlin : Springer, 2005, 32(2018), 6 vom: Juni, Seite 2829-2838 |
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| Übergeordnetes Werk: |
volume:32 ; year:2018 ; number:6 ; month:06 ; pages:2829-2838 |
| Links: |
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| DOI / URN: |
10.1007/s12206-018-0539-4 |
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| Katalog-ID: |
SPR02533848X |
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| 100 | 1 | |a Jin, XueJun |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism |
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| 520 | |a Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. | ||
| 650 | 4 | |a Cable-driven parallel robot |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a End-effector |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Kinematics |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Pulley |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a Jung, Jinwoo |4 aut | |
| 700 | 1 | |a Piao, Jinlong |4 aut | |
| 700 | 1 | |a Choi, Eunpyo |4 aut | |
| 700 | 1 | |a Park, Jong-Oh |4 aut | |
| 700 | 1 | |a Kim, Chang-Sei |4 aut | |
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10.1007/s12206-018-0539-4 doi (DE-627)SPR02533848X (SPR)s12206-018-0539-4-e DE-627 ger DE-627 rakwb eng Jin, XueJun verfasserin aut Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. Cable-driven parallel robot (dpeaa)DE-He213 End-effector (dpeaa)DE-He213 Kinematics (dpeaa)DE-He213 Pulley (dpeaa)DE-He213 Jung, Jinwoo aut Piao, Jinlong aut Choi, Eunpyo aut Park, Jong-Oh aut Kim, Chang-Sei aut Enthalten in Journal of mechanical science and technology Berlin : Springer, 2005 32(2018), 6 vom: Juni, Seite 2829-2838 (DE-627)58714016X (DE-600)2467571-4 1976-3824 nnns volume:32 year:2018 number:6 month:06 pages:2829-2838 https://dx.doi.org/10.1007/s12206-018-0539-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 32 2018 6 06 2829-2838 |
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10.1007/s12206-018-0539-4 doi (DE-627)SPR02533848X (SPR)s12206-018-0539-4-e DE-627 ger DE-627 rakwb eng Jin, XueJun verfasserin aut Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. Cable-driven parallel robot (dpeaa)DE-He213 End-effector (dpeaa)DE-He213 Kinematics (dpeaa)DE-He213 Pulley (dpeaa)DE-He213 Jung, Jinwoo aut Piao, Jinlong aut Choi, Eunpyo aut Park, Jong-Oh aut Kim, Chang-Sei aut Enthalten in Journal of mechanical science and technology Berlin : Springer, 2005 32(2018), 6 vom: Juni, Seite 2829-2838 (DE-627)58714016X (DE-600)2467571-4 1976-3824 nnns volume:32 year:2018 number:6 month:06 pages:2829-2838 https://dx.doi.org/10.1007/s12206-018-0539-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 32 2018 6 06 2829-2838 |
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10.1007/s12206-018-0539-4 doi (DE-627)SPR02533848X (SPR)s12206-018-0539-4-e DE-627 ger DE-627 rakwb eng Jin, XueJun verfasserin aut Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. Cable-driven parallel robot (dpeaa)DE-He213 End-effector (dpeaa)DE-He213 Kinematics (dpeaa)DE-He213 Pulley (dpeaa)DE-He213 Jung, Jinwoo aut Piao, Jinlong aut Choi, Eunpyo aut Park, Jong-Oh aut Kim, Chang-Sei aut Enthalten in Journal of mechanical science and technology Berlin : Springer, 2005 32(2018), 6 vom: Juni, Seite 2829-2838 (DE-627)58714016X (DE-600)2467571-4 1976-3824 nnns volume:32 year:2018 number:6 month:06 pages:2829-2838 https://dx.doi.org/10.1007/s12206-018-0539-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 32 2018 6 06 2829-2838 |
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10.1007/s12206-018-0539-4 doi (DE-627)SPR02533848X (SPR)s12206-018-0539-4-e DE-627 ger DE-627 rakwb eng Jin, XueJun verfasserin aut Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. Cable-driven parallel robot (dpeaa)DE-He213 End-effector (dpeaa)DE-He213 Kinematics (dpeaa)DE-He213 Pulley (dpeaa)DE-He213 Jung, Jinwoo aut Piao, Jinlong aut Choi, Eunpyo aut Park, Jong-Oh aut Kim, Chang-Sei aut Enthalten in Journal of mechanical science and technology Berlin : Springer, 2005 32(2018), 6 vom: Juni, Seite 2829-2838 (DE-627)58714016X (DE-600)2467571-4 1976-3824 nnns volume:32 year:2018 number:6 month:06 pages:2829-2838 https://dx.doi.org/10.1007/s12206-018-0539-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 32 2018 6 06 2829-2838 |
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10.1007/s12206-018-0539-4 doi (DE-627)SPR02533848X (SPR)s12206-018-0539-4-e DE-627 ger DE-627 rakwb eng Jin, XueJun verfasserin aut Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. Cable-driven parallel robot (dpeaa)DE-He213 End-effector (dpeaa)DE-He213 Kinematics (dpeaa)DE-He213 Pulley (dpeaa)DE-He213 Jung, Jinwoo aut Piao, Jinlong aut Choi, Eunpyo aut Park, Jong-Oh aut Kim, Chang-Sei aut Enthalten in Journal of mechanical science and technology Berlin : Springer, 2005 32(2018), 6 vom: Juni, Seite 2829-2838 (DE-627)58714016X (DE-600)2467571-4 1976-3824 nnns volume:32 year:2018 number:6 month:06 pages:2829-2838 https://dx.doi.org/10.1007/s12206-018-0539-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 32 2018 6 06 2829-2838 |
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Jin, XueJun @@aut@@ Jung, Jinwoo @@aut@@ Piao, Jinlong @@aut@@ Choi, Eunpyo @@aut@@ Park, Jong-Oh @@aut@@ Kim, Chang-Sei @@aut@@ |
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Jin, XueJun |
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Jin, XueJun misc Cable-driven parallel robot misc End-effector misc Kinematics misc Pulley Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism |
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Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism Cable-driven parallel robot (dpeaa)DE-He213 End-effector (dpeaa)DE-He213 Kinematics (dpeaa)DE-He213 Pulley (dpeaa)DE-He213 |
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Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism |
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solving the pulley inclusion problem for a cable-driven parallel robotic system: extended kinematics and twin-pulley mechanism |
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Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism |
| abstract |
Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 |
| abstractGer |
Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 |
| abstract_unstemmed |
Abstract For a cable-driven parallel robot system, the robot kinematic models usually assume that the cable connection in the system comprises ideal fixed points on the base and an end-effector. However, the cables are usually guided around pulleys, so the pulley geometry can induce movable connection points when operating the robot system. Some previous studies have addressed the influence of the geometry of the guiding pulleys on the parallel cable robot’s kinematics, and extended pulley kinematics have been proposed by considering the pulley radius. However, the inverse kinematics of the extended pulley kinematics may hinder the implementation of an actual system, especially owing to the real-time computation capacity. Hence, in this study, to solve the pulley kinematic inclusion problem for a cabledriven robotic system and to improve the position control performance, we investigated the actual pulley kinematic effect and we proposed two methods for a fully constrained planar cable robot. Comparison and evaluations based on simulations and experiments using the proposed methods in terms of the end-effector posture demonstrated their validity for solving pulley inclusion problems for a cabledriven parallel robot. © The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 |
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Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism |
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https://dx.doi.org/10.1007/s12206-018-0539-4 |
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Jung, Jinwoo Piao, Jinlong Choi, Eunpyo Park, Jong-Oh Kim, Chang-Sei |
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Jung, Jinwoo Piao, Jinlong Choi, Eunpyo Park, Jong-Oh Kim, Chang-Sei |
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| doi_str |
10.1007/s12206-018-0539-4 |
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2024-07-03T15:22:53.318Z |
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|
| score |
7.401005 |