Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach
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.
KeywordsChain-Driven Robot Parallel Robot Industrial Applications
Unable to display preview. Download preview PDF.
This work was partially supported by EU Call RFCS-2017 through the research project DESDEMONA (grant agreement number 800687).
- 2.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.CrossRefGoogle Scholar
- 5.Havlik, S.: A cable-suspended robotic manipulator for large workspace operations. Comput. Aided Civil Infrastruct. Eng. 15(6): 56–68 (2000).Google Scholar
- 7.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).Google Scholar
- 9.Bosscher, P., Ebert-Uphoff, I.: Disturbance robustness measures for underconstrained cable-driven robots. Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL: 4205–4212 (2006).Google Scholar
- 12.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).Google Scholar
- 13.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).Google Scholar
- 15.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).Google Scholar
- 17.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.Google Scholar
- 18.Pott, A.: An algorithm for real-time forward kinematics of cable-driven parallel robots. In Advances in Robot Kinematics: 529–538 (2010), Springer.Google Scholar