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Variable-Structure Cable-Driven Parallel Robots

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Cable-Driven Parallel Robots (CableCon 2021)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 104))

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Abstract

Cable-driven parallel robots (CDPR) have seen great advances over the past two decades; however, they remain plagued by their inability to cover non-convex installation-spaces and low workspace to installation-space ratios relative to their rigid counterparts. These fundamental limitations arise because of the need to avoid collisions between cables and the environment, or the mobile platform. Allowing cables to collide with a set of permissible objects fixed in the environment addresses these issues. Still, the idea of allowing collisions along the length of cables is a concept that has not been well studied or discussed in the literature. In this paper, we hope to promote the idea of variable-structure CDPRs (VSCR) and lead a discussion on the possibilities for future research and applications. We identify three classifications of CDPRs based on anchor-point behavior and define what is meant by variable-structure within the context of CDPRs. We also provide a summary of our recent experimental observations and ongoing work on the study of VSCRs. We end the paper with a discussion of some of the major challenges that remain to be solved for VSCRs.

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Notes

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    https://youtu.be/7N8DHFy3cDM.

  2. 2.

    https://youtu.be/a8WY_QiS3_0.

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Acknowledgment

The authors would like to acknowledge the financial support of the Natural Sciences and Engineering Research Council of Canada (NSERC) in this research.

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Authors and Affiliations

  1. University of Waterloo, Waterloo On., Canada

    Mitchell Rushton & Amir Khajepour

Authors
  1. Mitchell Rushton
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  2. Amir Khajepour
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Corresponding author

Correspondence to Mitchell Rushton .

Editor information

Editors and Affiliations

  1. LIRMM, Univ Montpellier, CNRS, Montpellier, France

    Marc Gouttefarde

  2. Chair of Mechatronics, University of Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

  3. University of Stuttgart, Stuttgart, Germany

    Andreas Pott

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Rushton, M., Khajepour, A. (2021). Variable-Structure Cable-Driven Parallel Robots. In: Gouttefarde, M., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-75789-2_17

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