Kinematic Modeling and Workspace Analysis of a Spatial Cable Suspended Robot as Incompletely Restrained Positioning Mechanism
This article proposes modeling, simulation and
kinematic and workspace analysis of a spatial cable suspended robot
as incompletely Restrained Positioning Mechanism (IRPM). These
types of robots have six cables equal to the number of degrees of
freedom. After modeling, the kinds of workspace are defined then an
statically reachable combined workspace for different geometric
structures of fixed and moving platform is obtained. This workspace
is defined as the situations of reference point of the moving platform
(center of mass) which under external forces such as weight and with
ignorance of inertial effects, the moving platform should be in static
equilibrium under conditions that length of all cables must not be
exceeded from the maximum value and all of cables must be at
tension (they must have non-negative tension forces). Then the effect
of various parameters such as the size of moving platform, the size of
fixed platform, geometric configuration of robots, magnitude of
applied forces and moments to moving platform on workspace of
these robots with different geometric configuration are investigated.
Obtained results should be effective in employing these robots under
different conditions of applied wrench for increasing the workspace
volume.
[1] Dagalakis, Nicholas G., Albus, James S., Wang, Ben-Li, Unger, Joseph,
and Lee, James D., "Stiffness study of a parallel link robot crane for
shipbuilding applications", ASME Journal of Offshore Mechanics and Arctic
Engineering, 111(3),pp.183-193, August 1989.
[2] J.Hamedi, H.Zohoor, "Simulation and Optimization of the Rectangular
Stewart Cable-Suspended Robot", The 13th IASTED International Conference
on Robotics , Applications and Telematics,Germany,Wurzburg, 2007,
pp. 400-407.
[3] Tanaka, M., Seguchi, Y., and Shimada, S. ,"Kineto-statics of skycam-type
wire transport system", In Proc. USA-Japan Symposium on Flexible
Automation, Crossing Bridges:Minneapolis, Minnesota, 1988, pp.689-694.
[4] Takeda, Y. and Funabashi, H., "Kinematic Synthesis of Spatial In-parallel
Wire-Driven Mechanism with Six Degrees of Freedom with High Force
Transmissibility", Proceeding of ASME Design Engineering Technical
Conferences, Baltimore, 2000.
[5] Yang, L. F., Martin, M. M., and Chiou, J. C., "Stability and 3-D Spatial
Dynamics Analysis of a Three Cable Crane", American Society Aeronautics
and Astronautics , 2000 , 2069-2076.
[6] Verhoeven, R., Hiller, M., and Tadokoro, S., "Workspace, Stiffness,
Singularities and Classification of Tendon-Driven Stewart Platforms",6th
International Symposium on Robot Kinematics, Strobl, Austria, 1998,
pp.105-114.
[7] W. J. Shiang, D. Cannon, & J. Gorman, "Optimal force distribution
applied to a robotic crane with flexible cables", Proceeding of 2000 IEEE
Conference on Robotics and Automation, San Francisco,California, 2000,
pp. 1948-1954.
[8] C.B. Pham, S.H. Yeo, G. Yang, M.Sh. Kurbanhusen, & I.M. Chen,
"Force-Closure Workspace Analysis of Cable-Driven Parallel Mechanisms",
Mechanism and Machine Theory, 41, pp.53-69, 2006.
[9] X. Diao, & O. Ma, "A method of verifying force-closure condition for
general cable manipulators with seven cables", Mechanism and Machine
Theory, 42, pp.1563-1576, 2007.
[1] Dagalakis, Nicholas G., Albus, James S., Wang, Ben-Li, Unger, Joseph,
and Lee, James D., "Stiffness study of a parallel link robot crane for
shipbuilding applications", ASME Journal of Offshore Mechanics and Arctic
Engineering, 111(3),pp.183-193, August 1989.
[2] J.Hamedi, H.Zohoor, "Simulation and Optimization of the Rectangular
Stewart Cable-Suspended Robot", The 13th IASTED International Conference
on Robotics , Applications and Telematics,Germany,Wurzburg, 2007,
pp. 400-407.
[3] Tanaka, M., Seguchi, Y., and Shimada, S. ,"Kineto-statics of skycam-type
wire transport system", In Proc. USA-Japan Symposium on Flexible
Automation, Crossing Bridges:Minneapolis, Minnesota, 1988, pp.689-694.
[4] Takeda, Y. and Funabashi, H., "Kinematic Synthesis of Spatial In-parallel
Wire-Driven Mechanism with Six Degrees of Freedom with High Force
Transmissibility", Proceeding of ASME Design Engineering Technical
Conferences, Baltimore, 2000.
[5] Yang, L. F., Martin, M. M., and Chiou, J. C., "Stability and 3-D Spatial
Dynamics Analysis of a Three Cable Crane", American Society Aeronautics
and Astronautics , 2000 , 2069-2076.
[6] Verhoeven, R., Hiller, M., and Tadokoro, S., "Workspace, Stiffness,
Singularities and Classification of Tendon-Driven Stewart Platforms",6th
International Symposium on Robot Kinematics, Strobl, Austria, 1998,
pp.105-114.
[7] W. J. Shiang, D. Cannon, & J. Gorman, "Optimal force distribution
applied to a robotic crane with flexible cables", Proceeding of 2000 IEEE
Conference on Robotics and Automation, San Francisco,California, 2000,
pp. 1948-1954.
[8] C.B. Pham, S.H. Yeo, G. Yang, M.Sh. Kurbanhusen, & I.M. Chen,
"Force-Closure Workspace Analysis of Cable-Driven Parallel Mechanisms",
Mechanism and Machine Theory, 41, pp.53-69, 2006.
[9] X. Diao, & O. Ma, "A method of verifying force-closure condition for
general cable manipulators with seven cables", Mechanism and Machine
Theory, 42, pp.1563-1576, 2007.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:63136", author = "Jahanbakhsh Hamedi and Hassan Zohoor", title = "Kinematic Modeling and Workspace Analysis of a Spatial Cable Suspended Robot as Incompletely Restrained Positioning Mechanism", abstract = "This article proposes modeling, simulation and
kinematic and workspace analysis of a spatial cable suspended robot
as incompletely Restrained Positioning Mechanism (IRPM). These
types of robots have six cables equal to the number of degrees of
freedom. After modeling, the kinds of workspace are defined then an
statically reachable combined workspace for different geometric
structures of fixed and moving platform is obtained. This workspace
is defined as the situations of reference point of the moving platform
(center of mass) which under external forces such as weight and with
ignorance of inertial effects, the moving platform should be in static
equilibrium under conditions that length of all cables must not be
exceeded from the maximum value and all of cables must be at
tension (they must have non-negative tension forces). Then the effect
of various parameters such as the size of moving platform, the size of
fixed platform, geometric configuration of robots, magnitude of
applied forces and moments to moving platform on workspace of
these robots with different geometric configuration are investigated.
Obtained results should be effective in employing these robots under
different conditions of applied wrench for increasing the workspace
volume.", keywords = "Kinematic modeling, applied wrench, workspace,cable based robot.", volume = "2", number = "2", pages = "226-10", }