Abstract
A prototype of a spatial cable-suspended robot is designed and built and some experimental tests are carried out to verify the feasibility of the designed system, its operation and its compatibility with simulation results. Cable robots, as a modified version of cranes in which the load can be better controlled, are widely applicable for object handling. Here, an under-constrained version of this robot is manufactured which has the larger applicable workspace and the probability of cable interference is less. Experimental tests are carried out for monitoring the kinetics of the system including cable forces, motor torques and also its kinematics responses including actual tracking of the end effector and actual angular velocity of the motors. The cable-suspended robot is called ICaSbot (IUST Cable-Suspended robot). It can be seen that the obtained results are satisfactorily compatible to the theoretical results gained for the same six DOFs movements of simulation studies.
Similar content being viewed by others
References
Albus, J.; Bostelman, R.; Dagalakis, N.: The NIST ROBOCRANE. J. Robot. Syst. 10(5), 709–724 (1993)
Osumi, H.; Arai, T.; Asama, H.: Development of a s even degrees of freedom crane with three wires (1st report)—concept, design and control. J. Jpn. Soc. Precis. Eng 59(5), 767–772 (1993)
Kamamura, S.; Choe, W.; Tanaka, S.; Pandian, S.R.: Development of an ultrahigh speed robot FALCON using wire drive system. In: IEEE International Conference on Robotics and Automation, Japan (1995)
Yamamoto, M.; Yanai, N.; Mohri, A.: Inverse dynamics and control of crane-type manipulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1228–1233 (1999)
Shiang, W.J.; Cannon, D.; Gorman, J.: Dynamic analysis of the cable array robotic crane. In: IEEE International Conference on Robotics and Automation, pp. 495–500 (1999)
Bostelman, R.; Albus, J.; Dagalakis, N.; Jacoff, A.: RoboCrane project: an advanced concept for large scale manufacturing. Intelligent Systems Division National Institute of Standards and Technology Gaithersburg, Maryland (1995)
Oh, S.R.; Agrawal, S.K.: A reference governor-based controller for a cable robot under input constraints. IEEE Trans. Control Syst. Technol. 13, 639–645 (2005)
Chang, A.H.: Experimental development of the mobile vestibular platform. SUNFEST Technical report, Center for Sensor Technologies, University of Pennsylvania, Philadelphia, PA (2004)
Rosati, G.; Gallina, P.; Masiero, S.: Design, implementation and clinical tests of a wire-based robot for neurorehabilitation. In: IEEE Transactions On Neural Systems And Rehabilitation Engineering, vol. 15(4) (2007)
Rosati, G.; Gallina, P.; Rossi, A.; Masiero, S.: Wire-based robots for upper-limb rehabilitation. Int. J. Assist. Robotics Mechatron. 7, 3–10 (2006)
Varziri, S.; Notash, L.: Kinematic calibration of a wire-actuated parallel robot. Mech. Mach. Theory 42(8), 960–976(2007)
Alp, A.B.: Cable-suspended parallel robots. A MS thesis submitted to Mechanical Faculty of the University of Delaware (2001)
Korayem, M.H.; Bamdad, M.: Dynamic load carrying capacity of cable-suspended parallel manipulators. Int. J. Adv. Manuf. Technol. 44, 829–840
Korayem, M.H.; Bamdad, M.; Zehtab, R.M.: Experimental study on cable-suspended planar manipulator and dynamic load carrying capacity. In: Iranian Conference on Manufacturing Engineering (2009)
Korayem, M.H.; Bamdad, M.; Saadat, M.: Workspace analysis of cable-suspended robots with elastic cable. In: IEEE International Conference Robotics and Biomimetics ROBIO (2007)
Chen, G.: Exact closed-form optimal solution for constrained trajectory control of single-link flexible joint manipulator. Department of Electrical Engineering, University of Houston, Texas (1990)
Zhang, Y.; Agrawal, S.K.; Piovoso, M.J.: Coupled dynamics of flexible cables and rigid end-effector for a cable suspended robot. In: American Control Conference (2006)
Shih, S.W.; Hung, Y.P.; Lin, W.S.: Technical report, TR-IIS-96-003, Institute of Information & Science, Academia Sinica, Taipei (1996)
Vadia, J.: Planar cable direct driven robot, hardware implementation. M. Sc. Thesis, J. Fritz and H. Dolores Russ Collage of Engineering and Technology of Ohio University (2003)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Korayem, M.H., Bamdad, M., Tourajizadeh, H. et al. Development of ICASBOT: A Cable-Suspended Robot’s with Six DOF. Arab J Sci Eng 38, 1131–1149 (2013). https://doi.org/10.1007/s13369-012-0352-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13369-012-0352-9