Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling

Document Type : Research Paper

Authors

1 Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

2 Distinguished Professor and Member, Center of Excellence in Design, Robotics and Automation, School of Mechanical Engineering, Sharif University of Technology

Abstract

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied wrenches (forces/moments) on the robot. The results show that enlarging the size of fixed platform, increasing vertical payload, reducing applied lateral forces and elimination of applied moments on moving platform, cause expansion of workspaces volumes for the purpose of heavy loads handling.

Keywords


[1] Nicholas, G. , “Stiffness Study of a Parallel Link Robot Crane for Shipbuilding
Applications,” ASME Journal of Offshore Mechanics and Arctic Engineering, Vol.111,
pp.183-193 (1989).
[2] Alan, M., “Development of a Robotic Structural Steel Placement System,” Report
Official Contribution of the National Institute of Standards and Technology ,NIST (2003).
[3] Roberts, R. G., Graham, T., and Lippitt, T., “On the Inverse Kinematics, Statics , and
Fault Tolerance of Cable-Suspended Robots,” Journal of Robotic Systems, Vol. 15,
pp.581-597 (1998).
[4] Ebert-Uphoff, I. , “What A Stability Measure for Underconstrained Cable-Driven
Robots,” Proceedings of the 2004 IEEE International Conference on Robotics &
Automation , pp.4943-4949 ( 2004).
[5] Vadia, J. , “Planar Cable Direct Driven Robot : Hardware Implementation , ” MSc.
Thesis, Department of Mechanical Engineering, Ohio (2003).
[6] Robert L., and Williams II, “Planar Cable-Direct- Driven Robots, Part I : Kinematics and
Statics ,” ASME Design Automation Conference, pp.1-9 (2001).
[7] Williams II, R., and Gallina , P., “Planar Cable-Direct-Driven Robots :design for wrench
exertion, ” Journal of Intelligent and Robotic Systems, Vol.35, pp. 203-219 (2002).
[8] Albus, S., Dagalakis, G., and Yancey, W., “Available Robotics Technology for
Applications in Heavy Industry,” Iron and Steel Exposition and Annual Convention,
pp.117-115 (1988).
[9] Kossowski, C., and Notash, L., “A Novel 4 DOF Cable Actuated Parallel Manipulator,”
J. Robotic Systems, Vol.19, pp.605-615 (2002).
[10] Shiang, W. J., Cannon, D., and Gorman, J., “Dynamic Analysis of the Cable Array
Robotic Crane, ” Proceeding of IEEE Conference on Robotics and Automation,
pp.2495-2500 (1999).
[11] Shiang, W. J., Cannon, D., and Gorman, J., “Dynamic Analysis of the Cable Array
Robotic Crane,” Proceeding of 1998 IEEE Conference on Robotics and Automation, pp.
2495-2500 (1999).
[12] Do, W. Q, and Yang, D.C. H., “Inverse Dynamic Analysis and Simulation of a
Platform Type of Robot,” Journal of Robotic Systems, Vol. 5, pp.209-222 (1988).
[13] Agrawal, S. K., “Workspace Boundaries of In-Parallel Manipulator Systems,
” International Journal of Robotics and Automation, Vol. 7, pp.94-99 (1998).
[14] Sunil K. , “Cable Suspended Planar Robots With Redundant Cables: Controllers With
Positive Tensions,” IEEE Transactions on Robotics, Vol. 21, pp.143-150 ( 2005).
[15] Verhoeven, R., Hiller, M., and Tadokoro, S., “Workspace, Stiffness, Singularities and
Classification of Tendon-Driven Stewart Platforms,” 6th International Symposium on
Robot Kinematics, pp.105-114(1998).
[16] Pusey, J., Fattah, A., and Agrawal, S. , “Design and Workspace Analysis of a 6-6 Cable
Suspended Parallel Robot, ” Mechanism and Machine Theory , Vol.39, pp.761–778
(2004).