Abstract
This work presents Chain-Driven Parallel Robots replacing cables by chains. The use of conventional sprockets adds some important advantages with regards to Cable-Driven Parallel Robots. The most important ones are: a) no drum is required; b) no cable plasticity limitation must be imposed; c) using counterweights the manipulator can move the required payload with low motorization. In this paper some design considerations for allowing an accurate positioning and maximizing the robot workspace are presented. As example, a 2 Degrees-of-Freedom planar manipulator has been designed and built. The robot can command a 60 kg payload into a 0.8 m × 1.8 m workspace using only two 150W DC motor.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Castelli, G., Ottaviano, E., Gonzalez, A.: Analysis and simulation of a new Cartesian cable-suspended robot. Proc. IMechE Part C: J. Mechanical Engineering Science 224: 1717–1726 (2010). https://doi.org/10.1243/09544062jmes1976.
Gonzalez-Rodriguez, A., Castillo-Garcia, F.J., Ottaviano, E., Rea, P., Gonzalez-Rodriguez, A.G.: On the effects of the design of cable-Driven robots on kinematics and dynamics models accuracy. Mechatronics 43: 18–27 (2017). https://doi.org/10.1016/j.mechatronics.2017.02.002.
Albus, J., Bostelman, Dagalakis N.: The nist robocrane. Journal of Robotic Systems 10 (5), 709–724 (1993).
Castelli, G., Ottaviano, E., Rea, P.: A Cartesian Cable-Suspended Robot for improving end-users’ mobility in an urban environment. Robotics and Computer-Integrated Manufacturing 30(3): 335–343 (2014). https://doi.org/10.1016/j.rcim.2013.11.001.
Havlik, S.: A cable-suspended robotic manipulator for large workspace operations. Comput. Aided Civil Infrastruct. Eng. 15(6): 56–68 (2000).
Nan, R., Peng, B.: A Chinese concept for 1km radio telescope. Acta Astronautica 46 (10–12): 667–675 (2000).
Abbasnejad, G., Carricato, M.: Direct geometrico-static problem of underconstrained cable-driven parallel robots with n cables. IEEE Transactions on Robotics 31 (2): 468–478 (2015).
Du, J., Agrawal, SK.: Dynamic Modeling of Cable-Driven Parallel Manipulators with Distributed Mass Flexible Cables. J. Vib. Acoust. 137(2): 1–8 (2015). https://doi.org/10.1115/1.4029486.
Bosscher, P., Ebert-Uphoff, I.: Disturbance robustness measures for underconstrained cable-driven robots. Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL: 4205–4212 (2006).
Carricato, M., Merlet, J-P.: Stability analysis of underconstrained cable-driven parallel robots. IEEE Trans. on Robotics 29(1):288–296 (2013).
Kozak et al.: Static Analysis of Cable-Driven Manipulators with Non-Negligible Cable Mass. IEEE Transactions on Robotics 22(3):425–433 (2006). https://doi.org/10.1109/tro.2006.870659.
Merlet, J.-P.: A generic numerical continuation scheme for solving the direct kinematics of cable-driven parallel robot with deformable cables. In IEEE International Conference on Intelligent Robots and Systems: 4337–4343 (2016).
Ottaviano, E., Gattulli, V., Potenza, F.: Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots. Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham (2018).
Pott, A, Tempel, P.: A Uni_ed Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy. Advances in Robot Kinematics (ARK): 401–409 2018. https://doi.org/10.1007/978-3-319-93188-3 46.
Merlet, J.-P., Daney, D.: A portable, modular parallel wire crane for rescue operations. IEEE International conference on robotics and automation, Anchorage, Alaska, 3–8 May 2010: 2834–2839 (2010).
Collard, J.F., Cardou, P.: Computing the lowest equilibrium pose of a cable-suspended rigid body. Optimization and Engineering 14(3): 457–476 (2013).
Merlet, J.-P., dit Sandretto, A.: The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables. In Cable-Driven Parallel Robots: 3–15 (2014) Springer.
Pott, A.: An algorithm for real-time forward kinematics of cable-driven parallel robots. In Advances in Robot Kinematics: 529–538 (2010), Springer.
Acknowledgements
This work was partially supported by EU Call RFCS-2017 through the research project DESDEMONA (grant agreement number 800687).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Rubio-Gómez, G., Rodríguez-Rosa, D., García-Vanegas, J.A., Gonzalez-Rodríguez, A., Castillo-García, F.J., Ottaviano, E. (2019). Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_2
Download citation
DOI: https://doi.org/10.1007/978-3-030-20751-9_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20750-2
Online ISBN: 978-3-030-20751-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)