Abstract
A cable-driven parallel manipulator has been chosen to suspend and navigate instruments over a phenotyping research facility at the University of Nebraska. This paper addresses the static analysis and dimensional optimization of this system. Analysis of the system was performed with catenary simplification to create force equilibrium equations and define a mathematical model. The model incorporates flexibility due to catenary sag of the cables. Cable axial stiffness was not included because stiffness is dominated by catenary flexibility for the expected cable tensions. The model was used to optimize system dimensions, and a twelfth-scale system was constructed to verify the model as well as enable dynamic and control system experimentation during full-scale system construction. Miniature end-effectors were used to obtain end-effector orientation and cable tension measurements which were comparable to model predictions. The mathematical model was thereby shown to be accurate for the purpose of system static analysis.
Keywords
- Parallel machines
- Robot kinematics
- Modeling
- Manipulator motion-planning
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Notes
- 1.
After the first iteration of solving the force and moment equilibrium equations is performed, the end-effector is changed from a point-mass to a rigid body, oriented based on the prediction created by the results of the first iteration of moment equations.
- 2.
Data given for 68 kg end-effector, 3 m above ground.
- 3.
End-effector weight was found to have no impact on \( \eta_{max} \).
- 4.
End-effector weight was found to have no impact on end-effector inclination angle.
- 5.
For tension testing, points are located at heights of 0.25 m (lowest feasible elevation for given end-effector) and 1.14 m (maximum safe operating height for given weight).
- 6.
Rather than using a 0.535 kg end-effector for the tension tests, a 1.9 kg end-effector was used. This was done to increase cable tensions to a level more appropriate for the utilized load cells.
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Newman, M., Zygielbaum, A., Terry, B. (2018). Static Analysis and Dimensional Optimization of a Cable-Driven Parallel Robot. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_14
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DOI: https://doi.org/10.1007/978-3-319-61431-1_14
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