On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy

Satoshi Tadokoro; Motofumi Hattori; Shinsuke Nishioka; Tetsuya Kimura; Toshi Takamori; Kiyoshi Maeda

doi:10.1299/kikaic.66.2247

On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy

Satoshi Tadokoro, Motofumi Hattori, Shinsuke Nishioka, Tetsuya Kimura, Toshi Takamori, Kiyoshi Maeda

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

Cable-driven parallel architecture is a new robot mechanism which is suitable especially for high-speed transfer of lightweight objects. In this paper, the optimal cable configurations are derived within a class of mechanisms redundantly driven by 8 cables from the viewpoint of working space. The working space is determined by conditions that the traveling plate must be able to receive arbitrary force and moment and that the cables must not contact. Heuristics on cable configurations were obtained through optimizing and analyzing isotropic configurations of actuator units. Classification and comparison of various symmetric configurations derived the 2 optimal configurations: Rod-type and T-type. Simulation results proved the validity of these designs and showed their advantages and disadvantages.

Original language	English
Pages (from-to)	2247-2254
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	66
Issue number	647
DOIs	https://doi.org/10.1299/kikaic.66.2247
Publication status	Published - 2000
Externally published	Yes

Keywords

Cable-Driven Parallel Robot
Conceptual Optimal Design
High-Speed Motion
Large Orientation Change
WARP
Wire-Driven Manipulator

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy. / Tadokoro, Satoshi; Hattori, Motofumi; Nishioka, Shinsuke; Kimura, Tetsuya; Takamori, Toshi; Maeda, Kiyoshi.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 66, No. 647, 2000, p. 2247-2254.

Research output: Contribution to journal › Article › peer-review

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AU - Nishioka, Shinsuke

AU - Kimura, Tetsuya

AU - Takamori, Toshi

AU - Maeda, Kiyoshi

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AB - Cable-driven parallel architecture is a new robot mechanism which is suitable especially for high-speed transfer of lightweight objects. In this paper, the optimal cable configurations are derived within a class of mechanisms redundantly driven by 8 cables from the viewpoint of working space. The working space is determined by conditions that the traveling plate must be able to receive arbitrary force and moment and that the cables must not contact. Heuristics on cable configurations were obtained through optimizing and analyzing isotropic configurations of actuator units. Classification and comparison of various symmetric configurations derived the 2 optimal configurations: Rod-type and T-type. Simulation results proved the validity of these designs and showed their advantages and disadvantages.

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On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy

Abstract

Keywords

ASJC Scopus subject areas

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