In the context of applications requiring large workspace such as painting of airliners, a cable-driven parallel robot (CDPR) having a manipulator (robot arm) on-board its mobile platform possesses an interesting potential. Such a robotic system has typically more than six degrees of freedom (DOFs) and, hence, more than the minimum required to accomplish a task in Cartesian space. In particular, a robotic system consisting of a six-DOF cable-driven parallel robot whose mobile platform is equipped with a seven-DOF manipulator is considered in this paper. This robotic system being kinematically redundant, a redundancy resolution scheme is used to allow its end-effector to follow a relatively complex path in Cartesian space while avoiding cable collisions and satisfying some constraints on the CDPR workspace.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Gouttefarde, Marc (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Michelin, Micaël (Autor:in) / Hervé, Pierre Elie (Autor:in) / Tempier, Olivier (Autor:in) / Izard, Jean Baptiste (Autor:in) / Gouttefarde, Marc (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 26 ; 323-335


    Erscheinungsdatum :

    01.06.2021


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

    Michelin, Micaël / Hervé, Pierre Elie / Tempier, Olivier et al. | TIBKAT | 2021



    Hybrid Position/Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

    Kraus, Werner / Miermeister, Philipp / Schmidt, Valentin et al. | Fraunhofer Publica | 2015

    Freier Zugriff

    FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

    Pedemonte, Nicolò / Rasheed, Tahir / Marquez-Gamez, David et al. | Springer Verlag | 2019


    Tension restrained workspace analysis for cable-driven parallel robot

    Weihai, C. / Yangyi, Y. / Xingming, W. et al. | British Library Online Contents | 2011