Cable-Driven Parallel Robots: Theory and Application (Springer Tracts in Advanced Robotics, 120)

✍ Scribed by Andreas Pott

• Publisher: Springer
• Year: 2018
• Tongue: English
• Leaves: 475
• Category: Library

✦ Synopsis

Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research.

The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables.

For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots.

For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.

✦ Table of Contents

Acknowledgements
Contents
Symbols
1 Introduction
1.1 From Serial Robots to Cable Robots
1.1.1 Cable Robots as Intelligent Cranes
1.1.2 Cable Robots as Ultra Light-Weight Designs
1.2 State of the Art
1.2.1 History and Prototypes
1.2.2 Overview
1.3 Scope of this Book
2 Classification and Architecture
2.1 Terminology
2.2 Classification
2.2.1 Kinematic Classification
2.2.2 Motion Patterns for Cable Robots
2.2.3 Classification of Actuation
2.2.4 Classification of Function
2.2.5 Size, Payload and Dynamics
2.3 Architectures
2.3.1 Notation for Coinciding Anchor Points
2.3.2 Fixed Machine Frame
2.3.3 Mobile Platform
2.4 Fields of Application
2.4.1 Production Engineering
2.4.2 Logistics
2.4.3 Construction
2.4.4 Motion Simulation
2.4.5 Entertainment
2.4.6 Measurement Devices
2.4.7 Other Applications
2.4.8 Summary
3 Geometric and Static Foundations
3.1 Introduction
3.1.1 Literature Overview
3.1.2 Effects beyond the Standard Model
3.2 Standard Geometric Model
3.3 Statics
3.3.1 Purely Translational Robots (2T and 3T Case)
3.3.2 Planar Robots (1R2T Case)
3.3.3 Spatial Robots (2R3T Case)
3.4 Force Distributions
3.4.1 General Approach
3.4.2 Wrench-Closure Poses
3.4.3 Wrench-Feasible Poses
3.4.4 Stability of Equilibrium
3.4.5 Limits on Cable Forces
3.4.6 Force Distributions for CRPM and RRPM
3.4.7 Available Wrench Sets
3.5 Force Computation for CRPM
3.6 Force Computation for RRPM
3.6.1 Force Computation as Optimization Problem
3.6.2 Other Ways to Consider the Problem
3.6.3 On the Influence of Higher p-Norms
3.7 Algorithms for Force Distribution
3.7.1 Linear Programming
3.7.2 Nonlinear Programming
3.7.3 Verhoeven's Gradient Method
3.7.4 Dykstra Method
3.7.5 Closed-Form Method
3.7.6 Improved Closed-Form Solution
3.7.7 Barycentric Force Distribution Method
3.7.8 Weighted Sums of Vertices
3.7.9 Puncture Method
3.7.10 Comparison of the Methods
3.7.11 Simulation Results
3.7.12 Computation Time
3.8 Stiffness
3.8.1 Cable Stiffness
3.8.2 Geometric Stiffness
3.8.3 Stability
3.8.4 Stiffness Evaluation
3.8.5 Cable Parameters
3.8.6 Examples
3.9 Conclusion
4 Kinematic Codes
4.1 Introduction
4.2 Kinematic Transmission Functions
4.2.1 Inverse Kinematics
4.2.2 Forward Kinematics
4.2.3 First-Order Differential Kinematics
4.2.4 Singularities
4.2.5 Second and Higher Order Differential Kinematics
4.2.6 Kinematics for Under-Constrained Robots
4.3 Forward Kinematics Codes
4.3.1 Classification and Approaches
4.3.2 General Challenges with Forward Kinematics
4.3.3 The 3-2-1 Configuration
4.3.4 Numerical Methods for Redundantly Restrained Robots
4.3.5 Force-Based Forward Kinematics
4.4 Conclusion
5 Workspace
5.1 Introduction
5.1.1 Literature Overview
5.1.2 Workspace Definitions
5.1.3 Geometric Descriptions
5.1.4 Representation of the Workspace
5.2 Criteria for Workspace
5.2.1 Wrench-Closure Workspace
5.2.2 Wrench-Feasible Workspace
5.2.3 Cable Length
5.2.4 Dynamic Workspace
5.2.5 Singularities
5.2.6 Cable–Cable Interference
5.2.7 Cable-Platform Collisions
5.2.8 Restrictions on the Cable Anchor Point
5.3 Classification of Algorithms for Workspace Determination
5.3.1 Discretization Methods
5.3.2 Analytical Methods for Determination of the Workspace Boundary
5.3.3 Geometrical Methods
5.3.4 Continuous Methods
5.4 Continuous Workspace Analysis
5.4.1 Algorithms for Solving Constraint Satisfaction Problems
5.4.2 Constraints for Interval Workspace Analysis
5.5 Numeric Boundary Methods
5.5.1 Approximation of the Workspace Boundary
5.5.2 Hull Computation for Different Types of Workspace
5.5.3 Boolean Set Operations with the Workspace Boundary
5.5.4 Computing Properties of the Workspace from the Boundary
5.5.5 Differential Hull
5.5.6 Cable Span
5.5.7 Workspace Cross Sections
5.6 Analytic Boundary Determination
5.6.1 Wrench-Closure Workspace in Closed-Form
5.6.2 Mathematical Structure of the Workspace Boundary
5.6.3 Symbolic-Numeric Wrench-Closure Workspace
5.6.4 Analytic Determination of the Workspace for a Planar Robot
5.7 Workspace Studies
5.7.1 Cable Force Limits
5.7.2 Platform Load
5.7.3 Platform Orientation
5.7.4 Computation Method for Force Distribution
5.7.5 Differential Hull Studies
5.7.6 Cable–Cable Interference
5.7.7 Planar Robots
5.8 Conclusion
6 Dynamics
6.1 Introduction
6.1.1 Types of Dynamic Models
6.1.2 Review of Literature
6.2 System Structure
6.3 Modeling of Robot Mechanics
6.3.1 Mobile Platform
6.3.2 Cables
6.3.3 Winch Mechanics
6.3.4 Lagrange Function for Platform and Cables
6.3.5 Forward Kinematics and Dynamics
6.4 Modeling of Robot Electro-Mechanics
6.5 Implementation and Validation
6.6 Conclusions
7 Kinematics with Nonstandard Cable Models
7.1 Introduction
7.2 Kinematics for Pulley Mechanisms
7.2.1 Inverse Kinematics
7.2.2 Structure Equation and Pulley Kinematics
7.2.3 Forward Kinematics Code
7.2.4 Results
7.2.5 Summary
7.3 Kinematics with Sagging Cables
7.3.1 Modeling of Sagging Cables
7.3.2 Inelastic Horizontal Cable Model
7.3.3 Irvine's Elastic Cable Model
7.3.4 Summary
7.4 Kinematics with Elastic Cables
7.4.1 Inverse Kinematics
7.4.2 Forward Kinematics
7.5 Conclusions
8 Design
8.1 Introduction
8.1.1 Literature on Parameter Synthesis and Optimal Design
8.1.2 Dimensioning of Components and Hardware Design
8.1.3 Case Studies and Applications
8.2 Product Development for Cable Robots
8.3 Application Requirements
8.3.1 Workspace
8.3.2 Payload
8.3.3 Applied Forces and Torques
8.3.4 Acceleration
8.3.5 Velocity
8.3.6 Installation Space
8.3.7 Accuracy
8.4 System Design and Structural Synthesis
8.4.1 Common Architectures and Reference Designs
8.4.2 Generic Redundantly-Constrained Robot Design with Eight Cables
8.4.3 RoboCrane
8.4.4 Falcon
8.4.5 Segesta 7
8.4.6 IPAnema 1.5
8.4.7 IPAnema 2
8.4.8 IPAnema 3
8.4.9 CoGiRo
8.4.10 Cable Simulator
8.4.11 IPAnema-Falcon
8.4.12 French-German
8.4.13 Endless Z9 and Z12
8.5 Parameter Synthesis
8.5.1 Parameter Synthesis as Optimal Design Problem
8.5.2 Parameter Synthesis with Interval Analysis
8.6 Hardware Design
8.6.1 Cables
8.6.2 Cable Actuation Systems
8.6.3 Selection of the Actuators
8.6.4 Sensor Integration
8.7 Conclusions
9 Practice
9.1 Introduction
9.2 Calibration
9.2.1 Review of Literature
9.2.2 Principles and Aspects of Calibration
9.2.3 Calibration Kinematic Model
9.2.4 Pose Measurement
9.2.5 Parameter Fitting
9.2.6 Measurement Pose Selection
9.3 IPAnema Robot Family
9.3.1 IPAnema 1
9.3.2 IPAnema 2
9.3.3 IPAnema 2 Planar
9.3.4 IPAnema 3
9.3.5 IPAnema 3 Mini
9.4 Other Cable Robots
9.4.1 Copacabana
9.4.2 Expo 2015
9.4.3 MPI CableSimulator
9.4.4 Segesta
9.4.5 Storage Retrieval Machine CABLAR
9.4.6 CoGiRo
9.5 Conclusions
10 Summary
10.1 Open Issues
10.2 Outlook
Appendix A Notation and Definitions
Appendix B Introduction to Interval Analysis
B.1 Interval Evaluation of a Function
B.2 Over-Estimation
B.3 Software and Implementation
References
Index