Hostname: page-component-78c5997874-g7gxr Total loading time: 0 Render date: 2024-11-16T18:23:45.915Z Has data issue: false hasContentIssue false
  • English
  • Français

Workspace formulation of planar wire-actuated parallel manipulators

Published online by Cambridge University Press:  19 August 2010

Derek McColl  and
Leila Notash
Derek McColl
Affiliation:
Department of Mechanical and Materials Engineering, Queen's University, Kingston, ON, Canada
Leila Notash*
Affiliation:
Department of Mechanical and Materials Engineering, Queen's University, Kingston, ON, Canada
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, a generalized form of the antipodal method from multi-finger grasping is presented and implemented for investigating the workspace of a wide range of planar wire-actuated parallel manipulators. Manipulators with distinct wire attachment points on the base and mobile platform are considered, in the absence and presence of external force. The examined workspaces are verified with the corresponding workspaces developed using static force analysis. By applying an external force, modeled as a wire for the antipodal method, the characteristics of the manipulator could be altered by enlarging its workspace in the direction of the applied force.

Keywords

Parallel manipulatorsWire-actuated parallel manipulatorsWorkspace analysisAntipodal theoremWrench-closure workspace
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 607 - 617
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Albus, J. S., Bostelman, R. V. and Dagalakis, N., “The NIST robocrane,” J. Robot. Syst. 10 (5), 709–724 (1993).CrossRefGoogle Scholar
2.Morizono, T., Kurahashi, K. and Kawamura, S., “Analysis and control of a force display system driven by a parallel wire mechanism,” Robotica 16 (5), 551–563 (1998).CrossRefGoogle Scholar
3.Kossowski, C. and Notash, L., “CAT4 (Cable Actuated Truss-4 Degrees of Freedom): A novel 4 DOF cable actuated parallel manipulator,” J. Robot. Syst. 19 (12), 605–615 (2002).CrossRefGoogle Scholar
4.Merlet, J.-P., “Kinematics of the Wire-Driven Parallel Robot MARIONET Using Linear Actuators,” Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, CA (May 12–23, 2008) pp. 3857–3862.Google Scholar
5.Ohwovoriole, E., “On the Total Freedom of Planar Bodies with Direct Contact,” Proceedings of the American Society of Mechanical Engineers, Cambridge, MA (Oct. 7–12, 1984) p. 6.Google Scholar
6.Murray, R., Li, Z. and Sastry, S., A Mathematical Introduction to Robotic Manipulation (CRC Press, 1994).Google Scholar
7.Sahin, S. and Notash, L., “Force and Stiffness Analysis of Wire-Actuated Parallel Manipulators,” Proceedings of 12th World Congress in Mechanism and Machine Science, Besancon, France (June 17–21, 2007) p. 6.Google Scholar
8.Roberts, R. G., Graham, T. and Lippit, T., “On the inverse kinematics, statics, and fault tolerance of cable-suspended robots,” J. Robot. Syst. 15 (10), 581–597 (1998).3.0.CO;2-P>CrossRefGoogle Scholar
9.Williams, R. L. II and Gallina, P., “Planar cable-direct-driven robots: Design for wrench exertion,” J. Intell. Robot. Syst. 35 (2), 203–219 (2002).CrossRefGoogle Scholar
10.Oh, S. R. and Agrawal, S. K., “Cable suspended planar robots with redundant cables: Controllers with positive tensions,” IEEE Trans. Robot. 21 (4), 457–465 (2005).Google Scholar
11.Pham, C. B., Yeo, S. H., Yang, G., Kurbanhusen, M. S. and Chen, I. M., “Force closure workspace analysis of cable-driven parallel mechanisms,” Mech. Mach. Theory 41 (1), 53–69 (2006).CrossRefGoogle Scholar
12.Diao, X. and Ma, O., “A method of verifying force- closure condition for general cable manipulators with seven cables,” Mech. Mach. Theory 43 (12), 1563–1576 (2007).CrossRefGoogle Scholar
13.Ricard, R. and Gosselin, C. M., “On the determination of the workspace of complex planar robotic manipulators,” ASME J. Mech. Des. 120 (2), 269–278 (1998).CrossRefGoogle Scholar
14.Gouttefarde, M. and Gosselin, C. M., “Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms,” IEEE Trans. Robot. 22 (3), 434–445 (2006).CrossRefGoogle Scholar
15.Stump, E. and Kumar, V., “Workspaces of cable-actuated parallel manipulators,” ASME J. Mech. Des. 128 (1), 159–167 (2006).CrossRefGoogle Scholar
16.McColl, D. and Notash, L., “Workspace Envelope Formulation of Planar Wire-Actuated Parallel Manipulators,” Proceedings of the CCToMM M3 Symposium, Quebec City, Quebec, Canada (May 28–29, 2009).Google Scholar
17.Hay, A. M. and Snyman, J. A., “Optimization of a planar tendon-driven parallel manipulator for a maximal dextrous workspace,” Eng. Optim. 37 (3), 217–236 (2005).CrossRefGoogle Scholar
18.Yoshikawa, T., Foundations of Robotics: Analysis and Control (MIT Press, Cambridge, MA, 1990).Google Scholar
19.Nguyen, V. D., “Constructing force-closure grasps,” Int. J. Robot. Res. 7 (3), 3–16 (1988).CrossRefGoogle Scholar
20.Ebert-Uphoff, I. and Voglewede, P. A., “On the Connections between Cable-Driven Robots, Parallel Manipulators and Grasping,” Proceedings of IEEE Conference on Robotics & Automation, New Orleans, LA (Apr. 26–May 1, 2004) pp. 4521–4526.Google Scholar
21.McMaster -Carr Supply Company, Catalog 107 (McMaster-Carr, Cleveland, OH, 2001).Google Scholar
22.McColl, D. and Notash, L., “Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators,” Proceedings of 5th IFToMM International Workshop on Computational Kinematics, Duisburg, Germany (May 6–7, 2009) p. 8.Google Scholar
23.McColl, D. and Notash, L., “Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method,” Proceedings of 18th CISM-IFToMM Symposium Robot Design, Dynamics and Control (RoManSy), Udine, Italy (July 5–8, 2010) p. 8.Google Scholar