Reconfiguration strategy for fully actuated translational cable-suspended parallel robots

Area of Science:

• Robotics
• Mechanical Engineering
• Control Systems

Background:

• Cable-Suspended Parallel Robots (C-SPRs) offer unique advantages for industrial applications.
• Reconfigurability of cable connection points is crucial for enhancing C-SPR functionality, especially with mobile platforms.
• Translational Reconfigurable C-SPRs (TR-CSPs) with point mass end-effectors are a key focus for advanced robotic manipulation.

Purpose of the Study:

• To investigate the optimization of cable connection point configurations in TR-CSPs using performance indices.
• To develop an analytical approach for reconfiguring TR-CSPs during task execution to prevent cable slackness.
• To define a comprehensive reconfiguration strategy for TR-CSPs applicable to real-world tasks.

Main Methods:

• Exploiting the Wrench Exertion Capability (WEC) performance index for workspace analysis and configuration optimization.
• Developing an analytical method for quasi-static reconfiguration of TR-CSPs with a single reconfigurable connection point.
• Applying the WEC analysis and reconfiguration strategy to a numerical example of a TR-CSPR performing a load lifting and moving task.

Main Results:

• The WEC index effectively identifies optimal cable connection points for task-specific performance and enables workspace analysis.
• An analytical approach successfully demonstrated the avoidance of cable slackness through quasi-static reconfiguration during task execution.
• The proposed reconfiguration strategy, combining WEC analysis and dynamic re-tasking, enhances the operational capabilities of TR-CSPs.

Conclusions:

• Reconfiguration is a vital feature for enhancing the performance and applicability of TR-CSPs in industrial and service robotics.
• The WEC performance index provides a robust tool for analyzing and optimizing TR-CSPR configurations.
• The developed reconfiguration strategy offers a practical solution to the critical issue of cable slackness in cable robots.