Workspace analysis of an underconstrained cable-driven parallel robot with four cables
Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can hav...
Ausführliche Beschreibung
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| Autor*in: |
Job, Jibi [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2022 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 |
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| Übergeordnetes Werk: |
Enthalten in: Construction robotics - [Cham] : Springer International Publishing, 2017, 6(2022), 2 vom: Juni, Seite 109-119 |
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| Übergeordnetes Werk: |
volume:6 ; year:2022 ; number:2 ; month:06 ; pages:109-119 |
| Links: |
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| DOI / URN: |
10.1007/s41693-022-00076-1 |
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| Katalog-ID: |
SPR048119539 |
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| 100 | 1 | |a Job, Jibi |e verfasserin |0 (orcid)0000-0001-9338-3503 |4 aut | |
| 245 | 1 | 0 | |a Workspace analysis of an underconstrained cable-driven parallel robot with four cables |
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| 520 | |a Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. | ||
| 650 | 4 | |a Cable-driven parallel robots |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Underconstrained robots |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Parallel mechanisms |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Workspace |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Stability analysis |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a Ponnan, Rikku Joseph |4 aut | |
| 700 | 1 | |a Chandran, Vishnu J. |4 aut | |
| 700 | 1 | |a Biju, N |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t Construction robotics |d [Cham] : Springer International Publishing, 2017 |g 6(2022), 2 vom: Juni, Seite 109-119 |w (DE-627)890238839 |w (DE-600)2897021-4 |x 2509-8780 |7 nnns |
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10.1007/s41693-022-00076-1 doi (DE-627)SPR048119539 (SPR)s41693-022-00076-1-e DE-627 ger DE-627 rakwb eng Job, Jibi verfasserin (orcid)0000-0001-9338-3503 aut Workspace analysis of an underconstrained cable-driven parallel robot with four cables 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. Cable-driven parallel robots (dpeaa)DE-He213 Underconstrained robots (dpeaa)DE-He213 Parallel mechanisms (dpeaa)DE-He213 Workspace (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Ponnan, Rikku Joseph aut Chandran, Vishnu J. aut Biju, N aut Enthalten in Construction robotics [Cham] : Springer International Publishing, 2017 6(2022), 2 vom: Juni, Seite 109-119 (DE-627)890238839 (DE-600)2897021-4 2509-8780 nnns volume:6 year:2022 number:2 month:06 pages:109-119 https://dx.doi.org/10.1007/s41693-022-00076-1 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_266 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_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 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_2118 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_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 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_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 6 2022 2 06 109-119 |
| spelling |
10.1007/s41693-022-00076-1 doi (DE-627)SPR048119539 (SPR)s41693-022-00076-1-e DE-627 ger DE-627 rakwb eng Job, Jibi verfasserin (orcid)0000-0001-9338-3503 aut Workspace analysis of an underconstrained cable-driven parallel robot with four cables 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. Cable-driven parallel robots (dpeaa)DE-He213 Underconstrained robots (dpeaa)DE-He213 Parallel mechanisms (dpeaa)DE-He213 Workspace (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Ponnan, Rikku Joseph aut Chandran, Vishnu J. aut Biju, N aut Enthalten in Construction robotics [Cham] : Springer International Publishing, 2017 6(2022), 2 vom: Juni, Seite 109-119 (DE-627)890238839 (DE-600)2897021-4 2509-8780 nnns volume:6 year:2022 number:2 month:06 pages:109-119 https://dx.doi.org/10.1007/s41693-022-00076-1 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_266 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_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 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_2118 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_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 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_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 6 2022 2 06 109-119 |
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10.1007/s41693-022-00076-1 doi (DE-627)SPR048119539 (SPR)s41693-022-00076-1-e DE-627 ger DE-627 rakwb eng Job, Jibi verfasserin (orcid)0000-0001-9338-3503 aut Workspace analysis of an underconstrained cable-driven parallel robot with four cables 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. Cable-driven parallel robots (dpeaa)DE-He213 Underconstrained robots (dpeaa)DE-He213 Parallel mechanisms (dpeaa)DE-He213 Workspace (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Ponnan, Rikku Joseph aut Chandran, Vishnu J. aut Biju, N aut Enthalten in Construction robotics [Cham] : Springer International Publishing, 2017 6(2022), 2 vom: Juni, Seite 109-119 (DE-627)890238839 (DE-600)2897021-4 2509-8780 nnns volume:6 year:2022 number:2 month:06 pages:109-119 https://dx.doi.org/10.1007/s41693-022-00076-1 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_266 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_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 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_2118 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_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 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_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 6 2022 2 06 109-119 |
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10.1007/s41693-022-00076-1 doi (DE-627)SPR048119539 (SPR)s41693-022-00076-1-e DE-627 ger DE-627 rakwb eng Job, Jibi verfasserin (orcid)0000-0001-9338-3503 aut Workspace analysis of an underconstrained cable-driven parallel robot with four cables 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. Cable-driven parallel robots (dpeaa)DE-He213 Underconstrained robots (dpeaa)DE-He213 Parallel mechanisms (dpeaa)DE-He213 Workspace (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Ponnan, Rikku Joseph aut Chandran, Vishnu J. aut Biju, N aut Enthalten in Construction robotics [Cham] : Springer International Publishing, 2017 6(2022), 2 vom: Juni, Seite 109-119 (DE-627)890238839 (DE-600)2897021-4 2509-8780 nnns volume:6 year:2022 number:2 month:06 pages:109-119 https://dx.doi.org/10.1007/s41693-022-00076-1 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_266 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_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 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_2118 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_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 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_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 6 2022 2 06 109-119 |
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10.1007/s41693-022-00076-1 doi (DE-627)SPR048119539 (SPR)s41693-022-00076-1-e DE-627 ger DE-627 rakwb eng Job, Jibi verfasserin (orcid)0000-0001-9338-3503 aut Workspace analysis of an underconstrained cable-driven parallel robot with four cables 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. Cable-driven parallel robots (dpeaa)DE-He213 Underconstrained robots (dpeaa)DE-He213 Parallel mechanisms (dpeaa)DE-He213 Workspace (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Ponnan, Rikku Joseph aut Chandran, Vishnu J. aut Biju, N aut Enthalten in Construction robotics [Cham] : Springer International Publishing, 2017 6(2022), 2 vom: Juni, Seite 109-119 (DE-627)890238839 (DE-600)2897021-4 2509-8780 nnns volume:6 year:2022 number:2 month:06 pages:109-119 https://dx.doi.org/10.1007/s41693-022-00076-1 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_266 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_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 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_2118 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_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 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_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 6 2022 2 06 109-119 |
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Job, Jibi @@aut@@ Ponnan, Rikku Joseph @@aut@@ Chandran, Vishnu J. @@aut@@ Biju, N @@aut@@ |
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Job, Jibi |
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Job, Jibi misc Cable-driven parallel robots misc Underconstrained robots misc Parallel mechanisms misc Workspace misc Stability analysis Workspace analysis of an underconstrained cable-driven parallel robot with four cables |
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Workspace analysis of an underconstrained cable-driven parallel robot with four cables Cable-driven parallel robots (dpeaa)DE-He213 Underconstrained robots (dpeaa)DE-He213 Parallel mechanisms (dpeaa)DE-He213 Workspace (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 |
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workspace analysis of an underconstrained cable-driven parallel robot with four cables |
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Workspace analysis of an underconstrained cable-driven parallel robot with four cables |
| abstract |
Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 |
| abstractGer |
Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 |
| abstract_unstemmed |
Abstract A cable-driven parallel robot is controlled by varying the cable lengths. When the moving platform of an underconstrained cable robot, suspended using four cables and acted upon by only the cable forces and weight of the platform, is moved to a particular position in a workspace, it can have only a limited variation in orientation. The feasible range of orientations at different positions in a cuboidal workspace is obtained in this work. It is not attempted to find the poses where the mobile platform is in complete static equilibrium. The range of poses, when the net force in all directions and the moment of forces about vertical axis are all equal to zero, and the moments about two horizontal axes are limited to specified limits, are mapped. Static simulation of the cable-driven robot at different positions along a prescribed path, as it transfers a payload, is conducted. The set of cable lengths corresponding to a position and orientation is given as input to the simulation and the equilibrium position is found. It is observed that when the cable lengths correspond to a feasible orientation, the moving platform stays on the intended path and when cable lengths corresponding to infeasible orientation are given as input, the center of the platform drifts away from the desired position. Knowledge of the feasible range of orientations will be useful in avoiding this drift and guiding the platform along a desired path. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2022 |
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Workspace analysis of an underconstrained cable-driven parallel robot with four cables |
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https://dx.doi.org/10.1007/s41693-022-00076-1 |
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Ponnan, Rikku Joseph Chandran, Vishnu J. Biju, N |
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Ponnan, Rikku Joseph Chandran, Vishnu J. Biju, N |
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| doi_str |
10.1007/s41693-022-00076-1 |
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2024-07-03T17:08:14.147Z |
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code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">6</subfield><subfield code="j">2022</subfield><subfield code="e">2</subfield><subfield code="c">06</subfield><subfield code="h">109-119</subfield></datafield></record></collection>
|
| score |
7.401005 |