Abstract
The use of cable-driven robots is growing because of several important features, such as their structural simplicity and reduced mass and production cost compared to rigid-structure robots. However, the cable-driven mechanisms present some drawbacks, such as the fact that the cables are always tensioned to avoid errors of trajectory of the end-effector. In addition, if this necessary traction exceeds a maximum limit, cable breakage may occur. In this sense, it is proposed in this paper a way to evaluate the cable tension conditions in order to maintain the traction in each cable within an acceptable range, that assure the good operation of the robot. For this, a planar truss of rigid links with revolute joints is considered and one of the links is replaced by a cable. Then, the schematic representation of the system is made and it is modeled statically by the Davies method. In this way a homogeneous linear system is obtained that is solved from the null space of the coefficient matrix and then finally the tension in the cable can be evaluated.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Barrette, G., Gosselin, C.M.: Determination of the dynamic workspace of cable driven planar parallel mechanisms. J. Mech. Des. Trans. ASME 127(2), 242–248 (2005)
Bosscher, P., Ebert-Uphoff, I.: Wrench-based analysis of cable-driven robots. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 5, pp. 4950–4955. New Orleans (2004)
Bosscher, P., Riechel, A.T., Ebert-Uphoff, I.: Wrench-feasible workspace generation for cable-driven robots. IEEE Trans. Robot. 22(5), 890–902 (2006)
Bosscher, P., Williams, R.L., Bryson, L.S., Castro-Lacouture, D.: Cable-suspended robotic contour crafting system. Autom. Constr. 17(1), 45–55 (2007)
Bruckmann, T., Mikelsons, L., Brandt, T., Hiller, M., Schramm, D.: Wire robots Part i: kinematics, analysis & design. In: Parallel Manipulators, New Developments, InTech (2008)
Cazangi, H.R.: Aplicação do método de Davies para análise cinemática e estática de mecanismos com múltiplos graus de liberdade. Diss. Federal University of Santa Catarina (2008)
Davies, T. H.: The 1887 committee meets again: freedom and constraint. In: Ball 2000 Conference, University of Cambridge, Cambridge University Press, Trinity College, pp. 1–56 (2000)
Davies, T.: Freedom and constrain in coupling networks. In: Proceedings ImechE, vol. 220, pp. 989–1010 (2006)
Gosselin, C.: Cable-driven parallel mechanisms: state of the art and perspectives. Mech. Eng. Rev. 1, 1–17 (2014)
Gouttefarde, M., Gosselin, C.M.: Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Robot. 22(3), 434–445 (2006)
Gouttefarde, M., Merlet, J-P., Daney, D.: Wrench-feasible workspace of parallel cable-driven mechanisms. In: Robotics and Automation 2007 IEEE International Conference, pp. 1492–1497 (2007)
Lansdberger, S.E., Sheridan, T.B.: A new design for parallel link manipulators. In: Proceedings of the 1985 IEEE International Conference of Systems, Man and Cybernetics, Tucson, AZ, pp. 812–814 (1985)
Merlet, J-P.: Analysis of the influence of wires interference on the workspace of wire robots. In: Advances in Robot Kinematics. pp. 211–218. Kluwer Academic Publishers (2004)
Muraro, T.: Análise cinemática e estática de um mecanismo espacial atuado por cabos aplicado à movimentação de pacientes. Diss Federal University of Santa Catarina (2015)
Oh, S.R., Agrawal, S.K.: Cable suspended planar robots with redundant cables: controllers with positive tensions. IEEE Trans. Robot. 21(3), 457–465 (2005)
Pham, C.B., Yeo, S.H., Yang, G., Kurbanhusen, M.S., Chen, I.M.: Force-closure workspace analysis of cable-driven parallel mechanisms. Mech. Mach. Theory 41(1), 53–69 (2006)
Pusey, J., Fattah, A., Agrawal, S., Messina, E.: Design and workspace analysis of a 6–6 cable-suspended parallel robot. Mech. Mach. Theory 39(7), 761–778 (2004)
Trevisani, A.: Underconstrained planar cable-direct-driven robots: a trajectory planning method ensuring positive and bounded cable tensions. Mechatronics 20(1), 113–127 (2010)
Williams, R.L., Gallina, P.: Planar cable-direct-driven robots: design for wrench exertion. J. Intell. Robot. Syst. 35(2), 203–219 (2002)
Acknowledgments
This work was supported by CNPq and CAPES.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Muraro, T., Martins, D., Sacht, L.K. (2018). Vector Analysis of the Cable Tension Conditions. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-67567-1_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-67567-1_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-67566-4
Online ISBN: 978-3-319-67567-1
eBook Packages: EngineeringEngineering (R0)