Technical Brief

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

[+] Author and Article Information
Hamed Khakpour

Mechanical Engineering Department,
Ecole Polytechnique of Montreal,
Montreal, QC H3T 1J4, Canada
e-mail: hamed.khakpour@polymtl.ca

Lionel Birglen

Mechanical Engineering Department,
Ecole Polytechnique of Montreal,
Montreal, QC H3T 1J4, Canada
e-mail: lionel.birglen@polymtl.ca

Souheil-Antoine Tahan

Mechanical Engineering Department,
Ecole de technologie superieure,
Montreal, QC H3C 1K3, Canada
e-mail: antoine.tahan@etsmtl.ca

Manuscript received August 29, 2013; final manuscript received October 18, 2014; published online June 10, 2015. Assoc. Editor: Xilun Ding.

J. Mechanisms Robotics 7(3), 034503 (Aug 01, 2015) (6 pages) Paper No: JMR-13-1172; doi: 10.1115/1.4028931 History: Received August 29, 2013; Revised October 18, 2014; Online June 10, 2015

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

Copyright © 2015 by ASME
Topics: Robots , Cables , Optimization
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Grahic Jump Location
Fig. 1

Direction of resultant force of the two cables of a differential when its actuator is locked

Grahic Jump Location
Fig. 2

Schematic of the proposed 3DOF differentially driven cable robot

Grahic Jump Location
Fig. 3

Schematic of a differentially actuated cable system

Grahic Jump Location
Fig. 4

Schematic of the optimized robot in an arbitrary location inside its workspace

Grahic Jump Location
Fig. 5

Schematic of the 3-3-full cable robot with three independently actuated cables



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