6-DOF Hybrid Cable-Driven Parallel Robot with an Articulated Manipulator

Shunichi Sakurai, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Realizing both dexterity in a large workspace and mechanically efficient architecture is a challenge for robotic manipulators. Conventional industrial robots, including serial and parallel robots, have suffered from the trade-off between the weight and the size of the workspace. On the other hand, cable-driven parallel robots (CDPRs) perform excellent lightness of the platform in a large workspace. However, its workspace is surrounded by a box, which leads to a large occupied space. This paper presents a hybrid cable-driven parallel robot with an articulated manipulator. The end effector is a platform whose orientation is directly controlled by four cables. The proposed architecture realizes 6-DOF motion by a light body. Since the tendons do not go through the intermediate joints of the articulated manipulator, the mechanical efficiency of the cables is improved compared to conventional tendon-driven robots. The forward kinematics is analyzed, and the numerical solution using the Newton-Raphson method is derived. The position control method, considering the statics of the platform, is explained. The experiments of position control confirm the performance of both translational and orientational motion.

Original languageEnglish
Title of host publication2024 33rd International Symposium on Industrial Electronics, ISIE 2024 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350394085
DOIs
Publication statusPublished - 2024
Event33rd International Symposium on Industrial Electronics, ISIE 2024 - Ulsan, Korea, Republic of
Duration: 2024 Jun 182024 Jun 21

Publication series

NameIEEE International Symposium on Industrial Electronics
ISSN (Print)2163-5137
ISSN (Electronic)2163-5145

Conference

Conference33rd International Symposium on Industrial Electronics, ISIE 2024
Country/TerritoryKorea, Republic of
CityUlsan
Period24/6/1824/6/21

Keywords

  • Cable-driven parallel robot (CDPR)
  • numerical solution of kinematics
  • position control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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