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Technical Brief

Experimental Validation of a Three-DOF Cable-Suspended Parallel Robot for Spatial Translation with Constant Orientation

[+] Author and Article Information
Dinh-Son Vu

Postdoctoral Fellow, Department of Mechanical Engineering, Université Laval, QC, G1V 0A6, Canada
dsvu@mp.aau.dk

Eric Barnett

Research Assistant, Department of Mechanical Engineering, Université Laval, QC, G1V 0A6, Canada
eric.barnett.1@ulaval.ca

Clement Gosselin

Professor, Fellow of ASME, Department of Mechanical Engineering, Université Laval, QC, G1V 0A6, Canada
gosselin@gmc.ulaval.ca

1Corresponding author.

ASME doi:10.1115/1.4042345 History: Received July 09, 2018; Revised December 12, 2018

Abstract

This paper shows an experimental validation for the design of a three-degree-of-freedom (DOF) cable-suspended parallel robot, which has six cables attached to the end-effector, arranged in three pairs, with each pair being driven by a single motor. For each pair, the moving platform attachment points and the winch cable guides on the fixed frame form a parallelogram, an arrangement that allows the end-effector to be positioned throughout its static workspace while maintaining a constant orientation. In this paper, the kinematic modelling of the robot is first described, along with its static workspace. Then, the robot's kinematic sensitivity is assessed in position and orientation such that an upper bound is found for the amplification of the cable positioning errors in Cartesian space. Finally, experimental results obtained using a proof-of-concept mechanism are described, which confirm the claim that the proposed design maintains a constant platform orientation in the static workspace.

Copyright (c) 2018 by ASME
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