Abstract
A Nā1 wire-driven parallel robot is a robot for which all the Nā„3 wires are connected at the same point of the platform, allowing to control the location of this point. We are interested in the positioning accuracy of such a robot. If the wires are not elastic we show that the influence on the accuracy of the co-location errors of the wire anchor points on the platform is moderate, although a full analysis is a very difficult task. If the wires are elastic we study the influence of the the wire lengths measurement errors and inaccurate estimation of the stiffness of the wires. Again we show a moderate influence but very large changes in the tensions in the wires that probably prohibit the use of the redundancy to optimize the tension in the wires. In all cases the complexity of the forward kinematics of such a robot makes accuracy analysis a very demanding task that requires an in-depth investigation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
M. Carricato and J-P. Merlet. Direct geometrico-static problem of underconstrained cable-driven parallel robots with three cables. In IEEE Int. Conf. on Robotics and Automation, pages 3011ā3017, Shangai, May, 9-13, 2011.
S.E. Landsberger and T.B. Sheridan. A new design for parallel link manipulator. In Proc. Systems, Man and Cybernetics Conf., pages 812ā814, Tucson, 1985.
Y. Li and G.M. Bone. Are parallel manipulators more energy efficient ? In IEEE Int. Symp. on Computational Intelligence in Robotics and Automation, Banff, August 29- September 1, 2001.
J-P. Merlet. Computing the worst case accuracy of a PKM over a workspace or a trajectory. In 5th Chemnitzer Parallelkinematik Seminar, pages 83ā 96, Chemnitz, April, 25-26, 2006.
J-P. Merlet and D. Daney. A portable, modular parallel wire crane for rescue operations. In IEEE Int. Conf. on Robotics and Automation, pages 2834ā2839, Anchorage, May, 3-8, 2010.
K. Miura and H. Furuya. Variable geometry truss and its application to deployable truss and space crane arms. In 35th Congress of the Int. Astronautical Federation, pages 1ā9, Lausanne, October, 7-13, 1984.
W.S. Murphy. Determination of a position using approximate distances and trilateration. Masterās thesis, Colorado School of Mines, Golden, July 2007.
E. Ottaviano et al. CaTraSys (Cassino Traking System): A wire system for experimental evaluation of robot workspace. Robotics and Mechatronics, 14(1):78ā87, 2002.
Y. Takeda et al. A human body searching strategy using a cable-driven robot with an electromagnetic wave direction finder at major disasters. Advanced Robotics, 19(3):331ā347, 2005.
F. Thomas et al. Uncertainty model and singularities of 3-2-1 wire-based tracking systems. In ARK, pages 107ā116, Caldes de Malavalla, June 29- July 2, 2002.
J. V. Zitzewitz et al. A versatile wire robot concept as a haptic interface for sport simulation. In IEEE Int. Conf. on Robotics and Automation, pages 313ā318, Kobe, May, 14-16, 2009.
M. Wu et al. A cable-driven locomotor training system for restoration of gait in human SCI. Gait & Posture, 33(2):256ā260, February 2011.
Z. Yaqing, L. Qi, and L. Xiongwei. Initial test of a wire-driven parallel suspension system for low speed wind tunnels. In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, June, 18-21, 2007.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
Ā© 2013 CISM, Udine
About this paper
Cite this paper
Merlet, JP. (2013). On the Accuracy of N-1 Wire-driven Parallel Robots. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 ā Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_3
Download citation
DOI: https://doi.org/10.1007/978-3-7091-1379-0_3
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
eBook Packages: EngineeringEngineering (R0)