Skip to main content
SpringerLink
Log in

Workspace Analysis of Planar Suspended Two-Cable-Driven Parallel Robots

  • Conference paper
  • First Online:
Advances in Mechanical Design (ICMD 2021)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 111))

Included in the following conference series:

  • 3912 Accesses

Abstract

This paper presents analysis methods for the constant-orientation workspace and the reachable workspace of the planar suspended two-cable-driven parallel robots (CDPRs) under cable tension limits. These two workspaces are subspaces of the configuration space of the CDPR, and therefore they both need to satisfy the static equilibrium equation system. The consistent condition of the equation system requires that when the pose of the moving platform (MP) is in the configuration space, the wrench induced by the gravity of the MP must be in the column space of the matrix whose columns are wrenches induced by cable tensions. When the two wrenches induced by two cable tensions are linearly dependent, the MP loses a controllable degree of freedom and the pose is in the singular configuration detailed by an analytical method. The feasible ranges of cable tensions will limit and shrink the constant-orientation workspace and the reachable workspace. It’s proved that the analyses and conclusions in the paper are still valid when the MP suffers from a general external wrench instead of the gravity wrench.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 349.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 449.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Zi, B., Qian, S., Ding, H.F., Kecskeméthy, A.: Design and analysis of cooperative cable parallel manipulators for multiple mobile cranes. Int. J. Adv. Rob. Syst. 9, 207 (2012)

    Article  Google Scholar 

  2. Cone, L.L.: Skycam, an aerial robotic camera system. Byte Mag. 10(10), 122–132 (1985)

    Google Scholar 

  3. Nan, R.D., Li, D., Jin, C.J., et al.: The five-hundred-meter aperture spherical radio telescope (FAST) project. Int. J. Mod. Phys. D 20(6), 989–1024 (2011)

    Article  Google Scholar 

  4. Carricato, M.: Direct geometrico-static problem of underconstrained cable-driven parallel robots with three cables. ASME J. Mech. Robot. 5(3), 031008 (2013)

    Google Scholar 

  5. Carricato, M.: Inverse geometrico-static problem of underconstrained cable-driven parallel robots with three cables. ASME J. Mech. Robot. 5(3), 031002 (2013)

    Google Scholar 

  6. Carricato, M., Abbasnejad, G.: Direct geometrico-static analysis of under-constrained cable-driven parallel robots with 4 cables. Mech. Mach. Sci. 12(2), 269–285 (2013)

    Article  Google Scholar 

  7. Jiang, Q.M., Kumar, V.: The direct kinematics of objects suspended from cables. In: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Canada, pp 193–202 (2010)

    Google Scholar 

  8. Berti, A., Merlet, J.P., Carricato, M.: Solving the direct geometrico-static problem of underconstrained cable-driven parallel robots by interval analysis. Int. J. Robot. Res. 35(6), 723–739 (2016)

    Article  Google Scholar 

  9. Carricato, M., Merlet, J.P.: Stability analysis of underconstrained cable-driven parallel robots. IEEE Trans. Rob. 29(1), 288–296 (2013)

    Article  Google Scholar 

  10. Gouttefarde, M., Gosselin, C.M.: Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Rob. 22(3), 434–445 (2006)

    Article  Google Scholar 

  11. Park, J., Sheng, Z., Stegall, P., Agrawal, S.K.: Analytic determination of wrench closure workspace of spatial cable driven parallel mechanisms. In: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Boston, MA, V05CT08A048 (2016)

    Google Scholar 

  12. Gouttefarde, M., Daney, D., Merlet, J.P.: Interval-analysis-based determination of the wrench-feasible workspace of parallel cable-driven robots. IEEE Trans. Rob. 27(1), 1–13 (2011)

    Article  Google Scholar 

  13. Chawla, I., Pathak, P.M.: Performance enhancement of interval-analysis-based-methods for wrench-feasible workspace computation of cable-driven parallel robot. In: ACM International Conference Proceeding Series, Madras, India, p. a69 (2019)

    Google Scholar 

  14. Fattah, A., Agrawal, S.K.: On the design of cable-suspended planar parallel robots. ASME J. Mech. Des. 127(5), 1021–1028 (2005)

    Article  Google Scholar 

  15. Peng, Y.J., Bu, W.H.: Analysis of reachable workspace for spatial 3-cable under-constrained suspended cable driven parallel. ASME J. Mech. Robot. Robots 13(6), 061002 (2021)

    Google Scholar 

  16. Longval, J.M., Gosselin, C.: Dynamic trajectory planning and geometric analysis of a two-degree-of-freedom translational cable-suspended planar parallel robot using a parallelogram cable loop. ASME J. Mech. Robot. Robots 11(2), 020903 (2019)

    Google Scholar 

  17. Merlet, J.P.: Computing cross-sections of the workspace of suspended cable-driven parallel robot with sagging cables having tension limitations. In: IEEE International Conference on Intelligent Robots and Systems, Madrid, Spain, pp. 5042–5047 (2018)

    Google Scholar 

  18. Trautwein, F., Tempel, P., Pott, A.: A symbolic-numeric method to capture the impact of varied geometrical parameters on the translational workspace of a planar cable-driven parallel robot. In: International Conference on Reconfigurable Mechanisms and Robots, Delft, Netherlands, pp. 8449891 (2018)

    Google Scholar 

  19. Strang, G.: Introduction to Linear Algebra. Wellesley-Cambridge Press, Wellesley MA (2016)

    MATH  Google Scholar 

Download references

Acknowledgements

This project is supported by National Natural Science Foundation of China (Grant No. 51475331) and the Fundamental Research Funds for the Central Universities.

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Tongji University, Shanghai, 201804, China

    Yijia Peng & Wanghui Bu

Authors
  1. Yijia Peng
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Wanghui Bu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Wanghui Bu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, Zhejiang, China

    Jianrong Tan

Rights and permissions

Reprints and permissions

Copyright information

© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Peng, Y., Bu, W. (2022). Workspace Analysis of Planar Suspended Two-Cable-Driven Parallel Robots. In: Tan, J. (eds) Advances in Mechanical Design. ICMD 2021. Mechanisms and Machine Science, vol 111. Springer, Singapore. https://doi.org/10.1007/978-981-16-7381-8_72

Download citation

  • DOI: https://doi.org/10.1007/978-981-16-7381-8_72

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-7380-1

  • Online ISBN: 978-981-16-7381-8

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation