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Kinetostatic Modeling and Configuration Variation Analysis of Cable-Driven Parallel Robots on Spherical Surfaces

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Cable-Driven Parallel Robots (CableCon 2023)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 132))

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Abstract

Cable-driven parallel robots (CDPRs) have good advantages to cover large part cleaning and manufacturing based on their lightweight designs and scalable workspace. This leads to CDPRs on curved surfaces with variable configurations due to the curvature of the cables. This paper presents a kinetostatic model to find the moving platform position with given set of cable lengths and vice versa, and to solve the cable tension force direction and magnitude for a 3-anchor-point hemispheric CDPR considering the anchors’ quantity and arrangement. The problem is formulated by utilizing geodesic property on spheres and solving planar force balance equations. Corresponding anchor point is defined by the coverage of each set of anchors that counters the gravity. Equivalent positioning provides a solution for sets of non-ordinary-anchor-location-based reconfiguration which changes the maximum cable tension requirements and surface coverage. Simulations and calculations are conducted to illustrate the proposed model.

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Authors and Affiliations

  1. Purdue University, West Lafayette, IN, 47907, USA

    Lei Jin & Dongming Gan

  2. Robotics Lab, Dubai Future Labs, Dubai, UAE

    Tarek Taha

Authors
  1. Lei Jin
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  2. Tarek Taha
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  3. Dongming Gan
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Corresponding author

Correspondence to Dongming Gan .

Editor information

Editors and Affiliations

  1. École Centrale Nantes, CNRS, LS2N, Nantes Université, Nantes, France

    Stéphane Caro

  2. University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  3. Chair of Mechatronics, University of Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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Jin, L., Taha, T., Gan, D. (2023). Kinetostatic Modeling and Configuration Variation Analysis of Cable-Driven Parallel Robots on Spherical Surfaces. In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Cham. https://doi.org/10.1007/978-3-031-32322-5_4

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