RT Journal Article
T1 Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot
A1 Gouttefarde, Marc
A1 Collard, Jean François
A1 Riehl, Nicolas
A1 Baradat, Cédric
AB This paper is dedicated to the geometry selection of a redundantly actuated cable-suspended parallel robot intended to manipulate heavy payloads over a wide workspace. Cable-suspended refers here to cable-driven parallel robots in a crane-like setting, where all the cable drawing points are located on top of the base frame, gravity being used to keep the cables taut. Geometry selection consists of determining the relative positions of the cable drawing points on the base frame and of the cable attachment points on the mobile platform together with the cable arrangement between these two sets of points. An original performance index is introduced. It is defined as the maximum acceptable distance between the mobile platform geometric center and the center of mass of the set consisting of the platform and a payload. This performance index is of particular interest in heavy payload handling applications. Used within a two-phase geometry selection strategy, it yields a new cable-suspended robot geometry having a very large workspace to footprint ratio and able to handle heavy payloads. A large-dimension redundantly actuated cable-suspended robot was built in order to demonstrate these capabilities.
SN 1552-3098
YR 2015
FD 2015-04-01
LK https://hdl.handle.net/11556/4126
UL https://hdl.handle.net/11556/4126
LA eng
NO Gouttefarde , M , Collard , J F , Riehl , N & Baradat , C 2015 , ' Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot ' , IEEE Transactions on Robotics , vol. 31 , no. 2 , 7050380 , pp. 501-510 . https://doi.org/10.1109/TRO.2015.2400253
NO Publisher Copyright: © 2004-2012 IEEE.
DS TECNALIA Publications
RD 28 jul 2024