Research Papers

A Spatial Translational Cable Robot

[+] Author and Article Information
Omid Saber

Department of Mechanical Engineering,
Texas A&M University,
College Station, TX 77843
e-mail: omidsaber@tamu.edu

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 13, 2013; final manuscript received July 21, 2014; published online December 4, 2014. Editor: Vijay Kumar.

J. Mechanisms Robotics 7(3), 031006 (Aug 01, 2015) (5 pages) Paper No: JMR-13-1133; doi: 10.1115/1.4028287 History: Received July 13, 2013; Revised July 21, 2014; Online December 04, 2014

In this paper, a novel design has been presented for a spatial translational cable-driven robot. The original design of this robot was introduced by Bosscher et al. (2005, “A concept for rapidly-deployable cable robot search and rescue systems,” DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA). In this paper, a structure has been proposed to enhance the workspace of the robot. This has been done by using more cables in the mechanism. However, no extra actuator has been added to the robot. Additionally, a method has been proposed to obtain the workspace of the presented robot by calculating the available moment (AM) set in each point of space. The results imply that the workspace of the robot has been enhanced significantly by using the new design.

Copyright © 2015 by ASME
Topics: Robots , Cables
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Fig. 3

(a) The proposed cable robot and the cables arrangement and (b) connection of a group of cables to a rotor

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Fig. 4

The set of attainable moment set by ith group of cables

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Fig. 2

The attainable moment set by one of the cable groups

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Fig. 1

Schematic structure of Robot I

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Fig. 5

Top view of the structure

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Fig. 6

(a) The workspace of Robot I and maximum achievable workspace and (b) a cross section of workspace of Robot I




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