Abstract
This chapter is dedicated to the design of Reconfigurable Cable-Driven Parallel Robots (RCDPRs) where the locations of the cable exit points on the base frame can be selected from a finite set of possible values. A task-based design strategy for discrete RCDPRs is formulated. By taking into account the working environment, the designer divides the prescribed workspace or trajectory into parts. Each part shall be covered by one configuration of the RCDPR. Placing the cable exit points on a grid of possible locations, numerous CDPR configurations can be generated. All the possible configurations are analysed with respect to a set of constraints in order to determine the parts of the prescribed workspace or trajectory that can be covered. The considered constraints account for cable interferences, cable collisions, and wrench feasibility. The configurations satisfying the constraints are then compared in order to find the combinations of configurations that accomplish the required task while optimising one or several objective function(s). A case study comprising the design of a RCDPR for sandblasting and painting of a three-dimensional tubular structure is finally presented. Cable exit points are reconfigured, switching from one side of the tubular structure to another, until three external sides of the structure are covered. The optimisation includes the minimisation of the number of cable attachment/detachment operations required to switch from one configuration to another one, minimisation of the size of the RCDPR, and the maximisation of the RCDPR stiffness.
References
Albus J, Bostelman R, Dagalakis N (1992) The NIST spider, a robot crane. J Res Nat Inst Stand Technol 97(3), 373–385
ANR Project CoGiRo. http://www.lirmm.fr/cogiro/
Behzadipour S, Khajepour A (2005) Stiffness of cable-based parallel manipulators with application to stability analysis. ASME J Mech Design 128(1):303–310
Blanchet L (2015) Contribution à la modélisation de robots à câbles pour leur commande et leur conception. Ph.D. thesis, Université Nice Sophia-Antipolis, France
Bostelman R, Jacoff A, Proctor F, Kramer T, Wavering A (2000) Cable-based reconfigurable machines for large scale manufacturing. In: Proceedings of the 2000 Japan-USA symposium on flexible automation. Ann Arbor, MI
Bouchard S, Gosselin CM, Moore B (2009) On the ability of a cable-driven robot to generate a prescribed set of wrenches. ASME J Mech Robot 2(1):1–10
CableBOT. http://www.cablebot.eu/en/
Fortin-Coté A, Cardou P, Gosselin C (2014) An admittance control scheme for haptic interfaces based on cable-driven parallel mechanisms. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2014), pp 819–925. Hong Kong
Gagliardini L, Caro S, Gouttefarde M, Girin A (2016) Discrete reconfiguration planning for cable-driven parallel robots. Mech Mach Theory 100:313–337
Gallina P, Rosati G, Rossi A (2001) 3-DOF wire driven planar haptic interface. J Intel Robot Syst 32(1):23–36
Gouttefarde M, Collard JF, Riehl N, Baradat C (2015) Geometry selection of a redundantly actuated cable-suspended parallel robot. IEEE Trans Robot 31(2):501–510
Gouttefarde M, Krut S (2010) Characterization of parallel manipulator available wrench set facets. In: Advances in robot kinematics, pp 475–484. Springer
Guay F, Cardou P, Cruz A, Caro S (2014) Measuring how well a structure supports varying external wrenches. In: New advances in mechanisms, transmissions and applications. Mechanisms and machine science, vol 17, pp 385–392. Springer
Hassan M, Khajepour A (2009) Analysis of large-workspace cable-actuated manipulator for warehousing applications. In: Proceedings of the ASME international design engineering and technology conference and computer and information in engineering conference (IDETC/CIE 2009), pp 45–53. San Diego, CA
Holland C, Cannon D (2004) Cable array robot for material handling
Izard JB, Gouttefarde M, Michelin M, Tempier O, Baradat C (2013) A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing. In: Cable-driven parallel robots. Mechanisms and machine science, vol 12, pp 135–148. Springer
Jiang Q, Kumar V (2013) The inverse kinematics of cooperative transport with multiple aerial robots. IEEE Trans Robot 29(1):136–145
Kamawura S, Kino H, Won C (2000) High-speed manipulation by using parallel wire-driven robots. Robotica 18(1):13–21
Lamaury J, Gouttefarde M, Chemori A, Herve PE (2013) Dual-space adaptive control of redundantly actuated cable-driven parallel robots. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2013), pp 4879–4886. Tokyo, Japan
Lumelsky V (1985) On fast computation of distance between line segments. Inform Process Lett 21(3):55–61
Maeda K, Tadokoro S, Takamori T, Hiller M, Verhoeven R (1999) On design of a redundant wire-driven parallel robot WARP manipulator. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 1999), vol 2, pp 895–900. Detroit, MI
Manubens M, Devaurs D, Ros L, Cortés J (2013) Motion planning for 6D manipulation with aerial towed-cable systems. In: Proceedings of robotics: science and systems. Berlin, Germany
Merlet JP (2008) Kinematics of the wire-driven parallel robot MARIONET using linear actuators. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2008), pp 3857–3862. Passadena, CA
Merlet JP, Daney D (2010) A portable, modular parallel wire crane for rescue operations. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2010), pp 2834–2839. Anchorage, AK
Nguyen DQ (2014) On the study of large-dimension reconfigurable cable-driven parallel robots. Ph.D. thesis, Université Montpellier 2, Montpellier, France
Nguyen DQ, Gouttefarde M (2014) Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance. In: Proceedings of the IEEE international conference on intelligent robots and systems (IROS 2014), pp 1682–1689. Chicago, IL
Nguyen DQ, Gouttefarde M, Company O, Pierrot F (2014) On the analysis of large-dimension reconfigurable suspended cable-driven parallel robots. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2014), pp 5728–5735. Hong Kong
Pott A, Meyer C, Verl A (2010) Large-scale assembly of solar power plants with parallel cable robots. In: Proceedings of the international symposium on robotics and 6th German conference on robotics (ISR/ROBOTIK 2010), pp 1–6. Munich, Germany
Pott A, Mtherich H, Kraus W, Schmidt V, Miermeister P, Verl A (2013) IPAnema: a family of cable-driven parallel robots for industrial applications. In: Cable-driven parallel robots. Mechanisms and machine science, vol 12, pp 119–134. Springer
Roberts R, Graham T, Lippitt T (1998) On the inverse kinematics, statics, and fault tolerance of cable-suspended robots. J Robot Syst 15(10):581–597
Rosati G, Gallina P, Masiero S (2007) Design, implementation and clinical test of a wire-based robot for neurorehabilitation. IEEE Trans Neural Syst Rehabil Eng 15(4), 560–569
Rosati G, Zanotto D, Agrawal SK (2011) On the design of adaptive cable-driven systems. ASME J Mech Robot 3(2)
Williams R, Xin M, Bosscher P (2008) Contour-crafting-cartesian-cable robot system concepts: workspace and stiffness comparisons. In: Proceedings of the ASME international design engineering and technology conference and computer and informatics in engineering conference (IDETC/CIE 2008), vol 2, pp 31–38. Brooklyn, NY
Yao R, Li H, Zhang X (2013) A modeling method of the cable driven parallel manipulator for FAST. In: Cable-driven parallel robots. Mechanisms and machine science, vol 12, pp 423–436. Springer
Yao R, Tang X, Wang J, Huang P (2010) Dimensional optimization design for the four-cable driven parallel manipulator in FAST. IEEE/ASME Trans Mechatr 15(6):932–941
Zanotto D, Rosati G, Minto S, Rossi A (2014) Sophia-3: a semiadaptive cable-driven rehabilitation device with a tilting working plane. IEEE Trans Robot 30(4):974–979
Zhou A, Tang CP, Krovi V (2012) Analysis framework for cooperating mobile cable robots. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2012), pp 3128–3133. Saint Paul, MN
Zhou X, Jun S, Krovi V (2013) Tension distribution shaping via reconfigurable attachment in planar mobile cable robots. Robotica 32(2):245–256
Zhou X, Jun S, Krovi V (2014) Stiffness modulation exploiting configuration redundancy in mobile cable robots. In: Proceedings of the IEEE international conference on robotics and automation (ICRA 2014), pp 5934–5939. Hong Kong
Acknowledgements
This research work is part of the CAROCA project managed by IRT Jules Verne (French Institute in Research and Technology in Advanced Manufacturing Technologies for Composite, Metallic and Hybrid Structures). The authors wish to associate the industrial and academic partners of this project, namely, STX, Naval Group, AIRBUS and CNRS.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Gagliardini, L., Gouttefarde, M., Caro, S. (2018). Design of Reconfigurable Cable-Driven Parallel Robots. In: Ottaviano, E., Pelliccio, A., Gattulli, V. (eds) Mechatronics for Cultural Heritage and Civil Engineering. Intelligent Systems, Control and Automation: Science and Engineering, vol 92. Springer, Cham. https://doi.org/10.1007/978-3-319-68646-2_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-68646-2_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-68645-5
Online ISBN: 978-3-319-68646-2
eBook Packages: EngineeringEngineering (R0)