Abstract
Package couriers are exposed to a strenuous work environment, where up to one third of their time is spent loading and unloading vehicles manually. There is a clear need for robotic systems to augment the capacity of their vehicles while reducing costs and labor. The lightweight components and scalable workspaces of cable-driven Parallel Robots (CDPRs) make them a strong option for this application, however cable interference means deployment in cluttered environments is currently infeasible. In this paper, we propose a suspended CDPR consisting of a two stage end effector with a unique docking system. The design permits the end effector to latch itself into continuous docking struts fixed throughout the workspace, re-routing the cables and deploying a sub-CDPR which can operate freely between obstacles. The design of the mechanism and the robot are presented as well as its functional modes. Workspace analysis is conducted for both the docked and undocked configurations demonstrating the feasibility and utility of such a design.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Autonomous Delivery Robots Market \(---\) Growth, Trends, Forecasts (2020–2025). https://www.mordorintelligence.com/industry-reports/autonomous-delivery-robots-market
Topic: Courier, express and parcels (cep) market in the united states. https://www.statista.com/topics/4063/courier-express-and-parcels-cep-market-in-the-united-states/. Accessed 21 Apr 2021
Aref, M.M., Taghirad, H.D.: Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1958–1963. IEEE (2008)
Bak, J.H., Hwang, S.W., Yoon, J., Park, J.H., Park, J.O.: Collision-free path planning of cable-driven parallel robots in cluttered environments. Intell. Serv. Robot. 12(3), 243–253 (2019)
Bosscher, P., Williams, R.L., Tummino, M.: A concept for rapidly-deployable cable robot search and rescue systems. In: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 47446, pp. 589–598 (2005)
Fukuda, K., Prodon, A.: Double description method revisited. In: Combinatorics and computer science, pp. 91–111. Springer (1996)
Gagliardini, L., Caro, S., Gouttefarde, M., Girin, A.: Discrete reconfiguration planning for cable-driven parallel robots. Mech. Mach. Theory 100, 313–337 (2016)
Gagliardini, L., Caro, S., Gouttefarde, M., Wenger, P., Girin, A.: Optimal design of cable-driven parallel robots for large industrial structures. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 5744–5749. IEEE (2014)
Gagliardini, L., Caro, S., Gouttefarde, M., Wenger, P., Girin, A.: A reconfigurable cable-driven parallel robot for sandblasting and painting of large structures. In: Cable-Driven Parallel Robots, pp. 275–291. Springer (2015)
Gouttefarde, M., Merlet, J.P., Daney, D.: Wrench-feasible workspace of parallel cable-driven mechanisms. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 1492–1497. IEEE (2007)
Izard, J.B., Gouttefarde, M., Michelin, M., Tempier, O., Baradat, C.: A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing. In: Cable-driven parallel robots, pp. 135–148. Springer (2013)
Lahouar, S., Ottaviano, E., Zeghoul, S., Romdhane, L., Ceccarelli, M.: Collision free path-planning for cable-driven parallel robots. Robot. Auton. Syst. 57(11), 1083–1093 (2009)
Nguyen, D.Q., Gouttefarde, M.: On the improvement of cable collision detection algorithms. In: Cable-Driven Parallel Robots, pp. 29–40. Springer (2015)
Pedemonte, N., et al.: Fastkit: a mobile cable-driven parallel robot for logistics. In: Advances in Robotics Research: From Lab to Market, pp. 141–163. Springer (2020)
Quijano, J.J.: Heart shaped lock with sliding breakaway feature (Oct 28 2014), uS Patent 8,870,242
Rasheed, T., Long, P., Caro, S.: Wrench-feasible workspace of mobile cable-driven parallel robots. J. Mech. Robot. 12(3) (2020)
Rasheed, T., Long, P., Marquez-Gamez, D., Caro, S.: Tension distribution algorithm for planar mobile cable-driven parallel robots. In: Cable-Driven Parallel Robots, pp. 268–279. Springer (2018)
Rasheed, T., Long, P., Roos, A., Caro, S.: Optimization based trajectory planning of mobile cable-driven parallel robots. In: The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), pp. 6788–6793 (2019)
Schultz, H.: Retractable pen (Jun 25 1974), uS Patent 3,819,282
Tadokoro, S., Matsushima, T., Murao, Y., Kohkawa, H.: A parallel cable-driven motion base for virtual acceleration. In: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No. 01CH37180), vol. 3, pp. 1700–1705. IEEE (2001)
Tan, H., Nurahmi, L., Pramujati, B., Caro, S.: On the reconfiguration of cable-driven parallel robots with multiple mobile cranes. In: 2020 5th International Conference on Robotics and Automation Engineering (ICRAE), pp. 126–130. IEEE (2020)
Wei, Y.: Feasibility analysis of parcel delivery pick-and-place system with cable driven parallel robots. Master’s thesis, Gordon Institute, Northeastern University, Northeastern University (2019)
Weiland, N.R.: Push-push latch with clicker (Jun 19 2001), US Patent 6,247,733
Zhang, B., Shang, W., Cong, S.: Optimal RRT* planning and synchronous control of cable-driven parallel robots. In: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), pp. 95–100. IEEE (2018)
Acknowledgement
This material is based upon work supported by the National Science Foundation under Award No. 1928654.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Skopin, M., Long, P., Padir, T. (2021). Design of a Docking System for Cable-Driven Parallel Robot to Allow Workspace Reconfiguration in Cluttered Environments. In: Gouttefarde, M., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-75789-2_13
Download citation
DOI: https://doi.org/10.1007/978-3-030-75789-2_13
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-75788-5
Online ISBN: 978-3-030-75789-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)