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Tension distribution shaping via reconfigurable attachment in planar mobile cable robots

Published online by Cambridge University Press:  27 November 2013

Xiaobo Zhou ,
Seung-kook Jun  and
Venkat Krovi
Xiaobo Zhou*
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA
Seung-kook Jun
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA
Venkat Krovi
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA
*
*Corresponding author. E-mail: xzhou9@buffalo.edu
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Summary

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Traditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-direction (via active coordination of mobile bases) and allowed for better conditioning of the wrench-feasible workspace. In this paper we explore putting idler pulleys on the payload attachment as alternate means to simplify the design and enable practical deployment. We examine analysis of the system using ellipse geometry and develop a virtual cable-subsystem formulation (which also facilitates subsumption into the previously developed mobile cable robot analysis framework). We also seek improvement of the tension distribution by utilizing configuration space redundancy to shape the tension null space. This tension distribution shaping is implemented in the form of a tension factor optimization problem over the workspace and explored via both simulation and experimental studies.

Keywords

Cable robotsMulti-robot systemsDesignParallel manipulatorsRedundant manipulators

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 2: Distributed Autonomous Robotic Systems (DARS). , March 2014 , pp. 245 - 256
Copyright
Copyright © Cambridge University Press 2013 

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