A Polymer Cable Creep Modeling for a Cable-Driven Parallel Robot in a Heavy Payload Application

Conference paper
First Online:
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 53)

Abstract

A polymer cable driven parallel robot can be an effective system in many fields due to its fast dynamics, high payload capability and large workspace. However, creep behavior of polymer cables may yield a posture control problem, especially in high payload pick and place application. The aim of this paper is to predict creep behavior of polymer cables by using different mathematical models for loading and unloading motion. In this paper, we propose a five-element model of the polymer cable that is made with series combination of a linear spring and two Voigt models, to portray experimental creep in simulation. Ultimately, the cable creep can be represented by payloads and cable length estimated according to the changes of actual payloads and cable lengths in static condition.

Keywords

Cable suspended parallel robot Polymer cable Creep Parameter identification 
This is a preview of subscription content, log in to check access.

Notes

Acknowledgments

Research supported by Leading Foreign Research Institute Recruitment Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (MSIP) (No. 2012K1A4A3026740).

References

  1. 1.
    Kawamura, S., Kino, H., Won, C.: High-speed manipulation by using parallel wire-driven robots. Robotics 18(3), 13–21 (2000)Google Scholar
  2. 2.
    Maeda, K., Tadokoro, S., Takamori, T., Hiller, M., Verhoeven, R.: On design of a redundant wire-driven parallel robot WARP manipulator. In: IEEE International Conference on Robotics and Automation, pp. 895–900 (1999)Google Scholar
  3. 3.
    Kawamura, S., Choe, W., Tanaka, S., Pandian, S.: Development of an ultrahigh speed robot FALCON using wire drive system. In: 1995 Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, pp. 215–220 (1995)Google Scholar
  4. 4.
    Dallej, T., Gouttefarde, M., Andreff, N., Dahmouche, R., Martinet, P.: Vision-based modeling and control of large-dimension cable-driven parallel robots. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1581–1586 (2012)Google Scholar
  5. 5.
    Kraus, W., Schmidt, V., Rajendra, P., Pott, A.: Load identification and compensation for a cable-driven parallel robot. In: Proceedings of International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 2485–2490 (2013)Google Scholar
  6. 6.
    Miermeister, P., Kraus, W., Lan, T., Pott, A.: An Elastic Cable Model for Cable-Driven Parallel Robots Including Hysteresis Effects, pp. 17–28. Springer International Publishing, Switzerland (2015)CrossRefGoogle Scholar
  7. 7.
    Miyasaka, M., Haghighipanah, M., Li, Y., Hannaford, B.: Hysteresis model of longitudinally loaded cable for cable driven robots and identification of the parameters. In: Proceedings of IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 4051–4057 (2016)Google Scholar
  8. 8.
    Korayem, M.H., Taherifar, M., Tourajizadeh, H.: Compensating the flexibility uncertainties of a cable suspended robot using SMC approach. Robotica 33(3), 578–598 (2014). Cambridge University PressCrossRefGoogle Scholar
  9. 9.
    Seon, J., Park, S., Ko, S.Y., Park, J.-O.: Cable configuration analysis to increase the rotational range of suspended 6-DOF cable driven parallel robots. In: Proceedings of the 16th International Conference on Control, Automation and Systems, Gyeongju, Korea, pp. 1047–1052 (2016)Google Scholar
  10. 10.
    Momoh, J.J., Shuaib-babata, L.Y., Adelegan, G.O.: Modification and performance evaluation of a low cost electro-mechanically operated creep testing machine. Leonardo J. Sci. 16, 83–94 (2010)Google Scholar
  11. 11.
    Czichos, H.: Springer Handbook of Materials Measurement Methods, pp. 303–304. Springer, Berlin (2006)CrossRefGoogle Scholar
  12. 12.
    Findley, W.N., Davis, F.A.: Creep and Relaxation of Nonlinear Viscoelastic Materials, pp. 58–62. Courier Corporation (2013)Google Scholar
  13. 13.
    Lurzhenko, M., Mamunya, Y., Boiteux, G., Lebedev, E.: Creep/stress relaxation of novel hybrid organic-inorganic polymer systems synthesized by joint polymerization of organic and inorganic oligomers. Macromol. Symp. 341(1), 51–56 (2014)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.School of Mechanical EngineeringChonnam National UniversityGwangjuSouth Korea
  2. 2.Medical Microrobot Center, Robot Research InitiativeChonnam National UniversityGwangjuSouth Korea

Personalised recommendations