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Technical Briefs

Workspace Analysis for Planar and Spatial Redundant Cable Robots

[+] Author and Article Information
Ali Ghasemi

Department of Mechanical Engineering, Shiraz University, Mollasadra Avenue, Shiraz, Fars 71348-51154, Iranali_gh373@yahoo.com

Mohammad Eghtesad

Department of Mechanical Engineering, Shiraz University, Mollasadra Avenue, Shiraz, Fars 71348-51154, Iraneghtesad@shirazu.ac.ir

Mehrdad Farid

Department of Mechanical Engineering, Shiraz University, Mollasadra Avenue, Shiraz, Fars 71348-51154, Iranfarid@shirazu.ac.ir

J. Mechanisms Robotics 1(4), 044502 (Sep 18, 2009) (6 pages) doi:10.1115/1.3211026 History: Received June 15, 2008; Revised June 04, 2009; Published September 18, 2009

This paper presents workspace analysis of planar and spatial cable robots having one or more redundant cables. The proposed approach, which is based on a variant of Bland’s pivot rule, provides all poses (positions/orientations) reachable by the cable robot platform with any number of cable redundancies. By virtue of this method, there is no need to use successive determinants to compute the workspace; this results in less computation time. Additionally, another algorithm, which takes advantage of reduced row-echelon form of the system matrix, is proposed for the case of cable robots with only one redundant cable and also to include upper limit for tensions in cables as an important factor in workspace analysis of the cable robots. Simulation results are provided to show the merits of the proposed methods to compute the available static workspace of the redundant cable robots.

FIGURES IN THIS ARTICLE
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Copyright © 2009 by American Society of Mechanical Engineers
Topics: Robots , Cables
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Figures

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Figure 1

General kinematics of a cable robot

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Figure 2

Workspace when the end-effector’s orientation is zero, by variant of Bland’s pivot rule, cable robot 1

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Figure 3

(a) Workspace when the end-effector’s orientation is zero for fmax=50 N, cable robot 1 and (b) workspace when the end-effector’s orientation is zero for fmax=180 N, cable robot 1

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Figure 4

Workspace when the end-effector’s orientation is changed, cable robot 1

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Figure 5

The computed workspace for the cable robot 2 when the end-effector’s orientation is fixed using variant of Bland’s pivot rule: (a) the overall view and (b) the detailed view of the same workspace

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Figure 6

Slices of the workspace along X, Y, and Z axes

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Figure 7

Workspace when the end-effector’s position is fixed, cable robot 2

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