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Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator.

Alejandro Rodriguez-Barroso1, Roque Saltaren2, Gerardo A Portilla3

  • 1Centro de Automática y Robótica, Universidad Politécnica de Madrid, C/José Gutiérrez Abascal 2, 28006 Madrid, Spain. alejandro.rbarroso@upm.es.

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Summary
This summary is machine-generated.

Redundant cable-driven parallel robots utilize extra degrees of freedom for reconfigurable end effectors. This study developed an elastic model to analyze cable tensions and platform movement, validating it with simulations and prototypes.

Keywords:
cable robotkinematic redundancyparallel manipulatorreconfigurable platform

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Cable-driven parallel robots (CDPRs) offer inherent redundancy, providing additional degrees of freedom.
  • This redundancy can be exploited for advanced functionalities, such as reconfigurable end effectors.
  • Analyzing the complex internal dynamics and high cable tensions in such systems is crucial.

Purpose of the Study:

  • To investigate the use of redundancy in a CDPR for actuating a reconfigurable end effector.
  • To develop and validate an elastic model for kinestostatic and wrench analysis under high cable tension.
  • To analyze the relationship between cable forces and internal platform movement.

Main Methods:

  • Development of an elastic model to account for high cable tensions in kinestostatic and wrench analysis.
  • Integration of a linear sensor to capture intermediate values within the compliant actuator.
  • Experimental setup with a fixed platform link to isolate internal movement analysis.
  • Comparison of theoretical calculations with dynamic simulations and real prototype measurements.

Main Results:

  • Accurate calculation and measurement of reconfigurable end effector positions.
  • Quantification of tension distribution within the compliant actuator.
  • Validation of the developed elastic model against simulation and experimental data.

Conclusions:

  • The elastic model effectively addresses the challenges posed by high cable tensions in redundant CDPRs.
  • The study demonstrates the feasibility of using robot redundancy for reconfigurable end effectors.
  • The findings provide a foundation for designing and controlling complex CDPR systems.