This study presents a concept of a collaborative robot consisting of a cable-suspended parallel mechanism and a vertical downward thruster equipped on its end-effector to achieve low risk in the event of collision, and good positioning performance at high speed operation. A prototype of a 4-wires 2 degrees-of-freedom vertical planar translational cable-suspended parallel robot was developed, and the experiments to examine its effectiveness and issues were conducted. The findings include the effectiveness of thruster to reduce wire slack for stiffness improvement, negative effect of the reaction torque of the single-rotor thruster which could be solved by introducing the contra-rotating propellers, and several additional issues such as the non-negligible stiffness of the thruster’s power and signal cables and vibration caused by the uneven output of the thruster.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experimental Study on Thrustered Cable-Suspended Parallel Robot for Collaborative Task


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Caro, Stéphane (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Hayashi, Kazuki (Autor:in) / Sugahara, Yusuke (Autor:in) / Takeda, Yukio (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 34 ; 419-429


    Erscheinungsdatum :

    2023-06-03


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot

    Métillon, Marceau / Charron, Camilo / Subrin, Kévin et al. | Springer Verlag | 2022


    SpiderBot: a cable-suspended walking robot

    Capua, A. | Online Contents | 2014



    Modeling and control of a cable-suspended sling-like parallel robot for throwing operations†

    Lin D. / Mottola G. / Carricato M. et al. | BASE | 2020

    Freier Zugriff