Dynamically Feasible Periodic Trajectories for Generic Spatial 3-DOF Cable-Suspended Parallel Robots

[+] Author and Article Information
Giovanni Mottola

Ph.D. Student, University of Bologna, Bologna, Italy 40126

Clement Gosselin

Professor, Fellow of ASME, Université Laval, Québec, Canada G1V 0A6

Marco Carricato

Professor, University of Bologna, Bologna, Italy 40126

1Corresponding author.

ASME doi:10.1115/1.4039499 History: Received September 25, 2017; Revised February 28, 2018


Cable suspended robots may move beyond their static workspace by keeping all cables under tension, thanks to end-effector inertia forces. This may be used to extend the robot capabilities, by choosing suitable dynamical trajectories. In this paper, we consider 3D elliptical trajectories of a point-mass end-effector suspended by 3 cables from a base of generic geometry. Elliptical trajectories are the most general type of spatial sinusoidal motions. We find a range of admissible frequencies for which said trajectories are feasible; we also show that there is a special frequency which allows the robot to have arbitrarily large oscillations. The feasibility of these trajectories is verified via algebraic conditions that can be quickly verified, thus being compatible with real-time applications. By generalizing previous studies, we also study the possibility to change the frequency of oscillation: this allows the velocity at which a given ellipse is tracked to be varied, thus providing more latitude in the trajectory definition. We finally study transition trajectories to move the robot from an initial state of rest (within the static workspace) to the elliptical trajectory (and vice versa) or to connect two identical ellipses having different centers.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In