In this paper, we present a new family of overhead traveling cranes based on variable radius drums (VRDs), called cable-based robotic cranes (CBRCs). A VRD is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just two degrees of freedom. First we present the kinematic analysis and the synthesis of the geometry of a VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.
Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums
2018-01-01
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Cable robot , cable-based robotic crane (CBRC) , Crane , Kinematic , Mechanical cable , overhead traveling crane , profile synthesi , Prototype , Pulley , Robot , variable radius drum (VRD) , Wound , Control and Systems Engineering , Computer Science Applications1707 Computer Vision and Pattern Recognition , Electrical and Electronic Engineering
DDC: | 629 |
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