Cable-Driven Parallel Robots: Proceedings of the 6th International Conference on Cable-Driven Parallel Robots

✍ Scribed by Stéphane Caro, Andreas Pott, Tobias Bruckmann

• Publisher: Springer-IFToMM
• Year: 2023
• Tongue: English
• Leaves: 457
• Series: Mechanisms and Machine Science, 132
• Category: Library

✦ Synopsis

This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 6th International Conference on Cable-Driven Parallel Robots (CableCon), held in Nantes, France on June 25-28, 2023. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.

✦ Table of Contents

Preface
Organization
Contents
Kinematics
Pose-Estimation Methods for Planar Underactuated Cable-Driven Parallel Robots
1 Introduction
2 Geometric Model
3 Sensor Fusion DK Algorithms
4 Experimental Validation
5 Conclusions
References
Manipulability Analysis of Cable-Driven Serial Chain Manipulators
1 Introduction
2 Manipulability Formulation
2.1 System Architecture
2.2 Manipulability Modelling and Measure
3 Manipulability Analysis
4 A Case of Cable-Driven Leg Exoskeleton
References
Advances in the Use of Neural Network for Solving the Direct Kinematics of CDPR with Sagging Cables
1 Introduction
2 First Trials with Neural Networks
2.1 Preliminaries: The Training Set
2.2 Initial Results and Methods
3 New Approach for Neural Networks
3.1 New Clustering Approach
3.2 MLP Training and Results
4 Other Approaches
5 Conclusion
References
Kinetostatic Modeling and Configuration Variation Analysis of Cable-Driven Parallel Robots on Spherical Surfaces
1 Introduction
2 Geometric Model
2.1 Hemi-Spherical Surface
3 Kinematic Model
3.1 Inverse Kinematics
3.2 Forward Kinematics
4 Statics
5 Tension-Force-Oriented Configuration Variation
6 Conclusions and Future Work
References
Cable Modelling
FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging
1 Introduction
2 CDPR Dynamic Modeling
2.1 FEM Model of Beams in SOFA
2.2 Application to CDPRs
3 Comparison with Existing Simulators
3.1 Modeled Robot
3.2 MapleSim
3.3 Definition of Scenario
3.4 Simulation Results
4 Conclusion and Perspectives
References
Absolute Nodal Coordinate Finite Element Formulation of Cables for Dynamic Modeling of CDPRs
1 Introduction
2 Formulation of Element Matrices
2.1 Cable Mesh
2.2 Bar Element
2.3 Flexural Element
3 Simulation Examples
3.1 Single Cable
3.2 Planar 3-DOF CDPR
4 Conclusion
Appendix
Tangent Rigidity Matrix of a Bar Element
Tangent Rigidity Matrix of a Flexural Element
References
Statics and Path of the Cables of a Cable-Driven Parallel Robot Wrapping on Surfaces
1 Introduction
2 A Cable Element Wrapping on a Surface
2.1 Statics of a Cable Element
2.2 Slippage Tendency and Equilibrium of a Cable Element
3 Paths of Cables and Kinematics of a CDPR with Cables Wrapping on Surfaces
3.1 Necessary Conditions for a Path of a Cable Wrapping on a Surface
3.2 Kinematics of a CDPR with Cables Wrapping on Surfaces
4 Case Study
4.1 Paths of Cables and Kinematics of a CDPR with Cables Wrapping on Cylinders
4.2 Length of Cables Wrapping on Cylinders of a CDPR in Trajectory Tracking
5 Conclusion
References
Workspace
Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device
1 Introduction
1.1 Telemanipulation in Robot-Assisted Surgery
1.2 Cable-Driven Haptic Devices
1.3 Aim of This Work
2 Methods
2.1 Modelling
2.2 Configuration
2.3 Workspace Assessment
3 Results
4 Discussion
5 Conclusion and Outlook
References
Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt
1 Introduction
2 Support Polyhedron
2.1 Support Polyhedron for the Platform as a Whole at a Given Pose
2.2 Support Polyhedron for a Payload at a Given Pose
2.3 Support Polyhedron for a Set of Poses
3 Minimal Acceptable Tension and Cable-to-Cable Collisions
4 Cogiro Payload Capability with Rotations
4.1 Configuration Data
4.2 Constant Orientation Performance
4.3 Performance with Platform Rotations at Reference Position
4.4 Performance for Various Workspace Dimensions
5 Discussion
References
Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace
1 Introduction
2 Manipulators Studied
2.1 Tensegrity Modules
2.2 Stack of Modules
2.3 Tendon Routing
3 Wrench-Feasible Workspace
3.1 Static Model
3.2 WFW Calculation
4 WFW Comparative Analysis
4.1 Manipulator Data
4.2 Example: A Manipulators with 6 Modules
4.3 Comparison Results
5 Conclusion
References
On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots
1 Introduction
2 Wrench Equations
3 Evaluation of Static Equilibrium
3.1 Wrench-Feasible Workspace Analysis
3.2 Available Wrench Set Analysis
3.3 EE DOF Driven Independently
3.4 Directly Wiring a Cable to the EE DOF
3.5 Doubling a Cable to Drive a Drum
3.6 Running a Pair of Cables Towards a Drum Carrying the Load
3.7 Discussion – Comparison of Designs
4 Conclusion and Perspectives
References
Control and Dynamics
A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots
1 Introduction
2 Kinetostatic Modeling
3 HRPCable Workspace Characterization
4 A Practical Cable-Selection Strategy
5 Experimental Validation
6 Conclusions and Outlook
References
Brief Review of Reinforcement Learning Control for Cable-Driven Parallel Robots
1 Introduction
1.1 Literature Review of Reinforcement Learning in Cable-Driven Robots
2 Reinforcement Learning
2.1 Review of Reinforcement Learning Methods in CDPR
2.2 Learning Control for CDPR
3 Concluding Remarks
References
Force Control of a 1-DoF Cable Robot Using ANARX for Output Feedback Linearization
1 Introduction
2 Controller Design
2.1 Modeling with ANARX
2.2 Training
2.3 Controller
3 Experiment
3.1 Training
3.2 Controller Performance
4 Discussion
5 Conclusion
References
Energy-Efficient Control of Cable Robots Exploiting Natural Dynamics and Task Knowledge
1 Introduction
2 Task Specification
2.1 Assumptions and Knowledge
2.2 Energy Measures
2.3 Approach
3 Control Strategy
3.1 Continuous Control
3.2 Discrete Control
4 Experimental Set-up
5 Experimental Results
6 Discussion and Conclusion
References
Modeling, Simulation, and Control of a ``Sensorless'' Cable-Driven Robot
1 Introduction
2 Materials and Method
2.1 Description of the Overall System
2.2 Modeling and Assumptions
3 Control Policy
3.1 Feedforward Velocity Control
3.2 Feedback Torque Control
4 Results and Discussion
References
Validation of Emergency Strategies for Cable-Driven Parallel Robots After a Cable Failure
1 Introduction
2 Modeling Fundamentals
3 Emergency Strategies
4 Decoupling Device and Failure Detection Algorithm
5 Experiments
6 Conclusion and Outlook
References
Stability Analysis of Profile Following by a CDPR Using Distance and Vision Sensors
1 Introduction
2 Task Definition
2.1 Sensors
2.2 Fusion Using the Gradient Projection Method
3 Control Strategy
4 Stability Criterion
4.1 Secondary Task Error Redefinition
4.2 Lyapunov Stability Criterion
5 Stability Analysis
6 Conclusion
References
Comparison of Explicit and Implicit Numerical Integrations for a Tendon-Driven Robot
1 Introduction
2 Robot Model
3 Numerical Integrations Without Elasticity
3.1 Explicit Numerical Integration Without Elasticity
3.2 Implicit Numerical Integration Without Elasticity
3.3 Comparison Between Explicit and Implicit Numerical Integration
4 Numerical Integrations with Tendon Elasticity
4.1 Explicit Numerical Integration with Tendon Elasticity
4.2 Implicit Numerical Integration with Tendon Elasticity
4.3 Comparison Between the Numerical Integrations with and Without Elasticity
5 Conclusion
References
Design
A Design Method of Multi-link Cable Driven Robots Considering the Rigid Structure Design and Cable Routing
1 Introduction
2 Background of MCDRs
3 Problem Formulation
4 Configuration Planning Based on Reachability
4.1 RRT Algorithm
4.2 Adjustment of the Length of Rigid-Links
4.3 Whole-Body Configuration Planning
5 Cable Routing Selection Based on Wrench Feasibility
5.1 Heuristic-Based Cable Routing Selection for MCDRs
5.2 Optimal Cable Routing Arrangement
6 Example and Results
6.1 Configuration Planning Based on Reachability
6.2 Cable Routing Selection Based on Wrench Feasibility
7 Conclusion and Future Works
References
A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots
1 Introduction
2 Modelling
2.1 Kinematic Foundations
2.2 Reconfigurable Parameters and Homogeneous Transformations
2.3 Properties of the Cable Robot
3 Predictor-Corrector-Scheme
3.1 General Scheme
3.2 Prediction
3.3 Correction
4 Validation Studies
4.1 Simulation Studies
4.2 Experimental Studies
5 Conclusion and Outlook
References
Variable Radius Drum Design for Cable-Driven Parallel Robots Based on Maximum Load Profile
1 Motivation
2 Maximum Load Profile
3 Winding Path
4 Drum Shape
5 Validation
6 Discussion and Outlook
References
Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot
1 Introduction
2 System Description
3 Performance Evaluation Indexes
4 Performance Analysis of Typical TBots
5 Performance Trends During Reconfiguration
6 Conclusion
References
Development Methodology of Cable-Driven Parallel Robots Intended for Functional Rehabilitation
1 Introduction
2 CDPR Design Methodology
2.1 Task Workspace Analysis
2.2 Optimization Problem Formulation
2.3 Prototype Control
3 Case of Study
3.1 Planar Cable-Driven Parallel Robot
3.2 Spatial Cable-Driven Parallel Robot
4 Conclusions
References
Transmission Systems to Extend the Workspace of Planar Cable-Driven Parallel Robots
1 Introduction
2 Kinetostatic Analysis
3 A 2-DoF Four-Cable Three-Actuator CDPR
3.1 Determination of the Transmission System T of a 2-DoF CDPR
3.2 Embodiment of the Transmission System in a 2-DoF Planar CDPR
4 A 3-DoF Six-Cable Four-Actuator CDPR
4.1 Determination of the Transmission System for 3-DoF CDPR Through T Matrix
4.2 Embodiment of the Transmission System of the 3-DoF Planar CDPR
4.3 Comparison Results
5 Conclusions
References
Toward the Creation of a Hybrid 4-UPS CDPR
1 Introduction
2 Project History
2.1 Development of the Tape Rod
3 Application in CDPRs
3.1 Planar Example
3.2 Current Research (Spatial 4-UPS)
4 Actuator Design
4.1 Methodology
4.2 Bending Guide
4.3 Combining Tapes
4.4 Reachable Workspace
5 Conclusion
References
Effect of Antagonistic Cable Actuation on the Stiffness of Symmetric Four-Bar Mechanisms
1 Introduction
2 Description of the Symmetric Four-Bar Mechanism
3 Kinematic Model of the Mechanism
4 Static Model of the Mechanism
5 Effect of Actuation Forces on Stiffness
5.1 Parallelogram and Anti-parallelogram Mechanisms
5.2 General Symmetric Four-Bar Mechanisms
6 Conclusion
References
Tensegrity-Inspired Joint Can Protect from Impacts by Isolating
1 Introduction
2 Results
3 Discussion
4 Materials and Methods
4.1 Fabrication and Setting of the Joint
4.2 Impacting the Joint While Measuring the Impact Force
4.3 Measuring the Forces at the Joint Base
References
Calibration and Accuracy
Dynamic Parameter Identification for Cable-Driven Parallel Robots
1 Introduction
2 Robot CRAFT
3 Robot Modeling
4 Identification Methodology
5 Semi-implicit Homogeneous Differentiator
6 Experiments
7 Discussion and Future Work
References
Forward Kinematics and Online Self-calibration of Cable-Driven Parallel Robots with Covariance-Based Data Quality Assessment
1 Introduction
1.1 Notation
1.2 System Description and Problem Definition
2 Online Forward Kinematics and Self-calibration Formulation
2.1 General Formulation
2.2 Application to the Forward Kinematics of an Over-Constrained 6-DOF CDPR with Inelastic Cables
3 Numerical Results
3.1 Inverse-Kinematics-Based Simulations
3.2 Dynamics-Based Simulations with Linear Elastic Cables
4 Conclusion
References
Elasto-Static Model and Accuracy Analysis of a Large Deployable Cable-Driven Parallel Robot
1 Introduction
2 Design and Modeling
2.1 Kinematic Model
2.2 Mast Model
3 Accuracy and Repeatability
3.1 ISO Standard 9283:1998
3.2 Pose Accuracy and Repeatability
3.3 Path Accuracy and Repeatability
3.4 Accuracy and Repeatability with the Compliant Mast Model
4 Conclusions
References
Application
A Warehousing Robot: From Concept to Reality
1 Introduction
2 CD-ASRS Prototypes
3 Conclusion
References
IPAnema Silent: A CDPR for Spatial Hearing Experiments
1 Introduction
2 Design
2.1 Requirements
2.2 Mechanical Design
2.3 Platform Model
2.4 Spherical-Orientation Workspace
2.5 Optimization of the Distal Anchor Points
2.6 Dynamic Performance
3 Experimental Evaluation of the IPAnema Silent
3.1 Noise Measurement
3.2 Workspace
3.3 Dynamic Performance
3.4 Accuracy
4 Conclusion
References
Experimental Study on Thrustered Cable-Suspended Parallel Robot for Collaborative Task
1 Introduction
2 Conceptual Design
3 Prototype
3.1 Hardware Design
3.2 Controller
4 Experiments
4.1 Experiments Using Single-Rotor Thruster
4.2 Experiments Using CRP Thruster
5 Conclusions and Future Work
References
The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal
1 Introduction
2 Presentation of the Robotic Seabed Cleaning Platform
3 Design of the Robotic Seabed Cleaning Platform
4 Sensors and Control System
5 Experiments in Venice
6 Conclusion
References
A Cable-Based Haptic Interface with a Reconfigurable Structure
1 Introduction
2 System Description
2.1 Specifications and Hardware
2.2 Kinematic Model
3 Control
4 Experiments and Results
4.1 Workspace
4.2 Haptic Feedback Evaluation
4.3 User-Based Evaluation
5 Conclusion
References
Author Index