TY - GEN
T1 - 6-DOF Hybrid Cable-Driven Parallel Robot with an Articulated Manipulator
AU - Sakurai, Shunichi
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
KW - Cable-driven parallel robot (CDPR)
KW - numerical solution of kinematics
KW - position control
UR - http://www.scopus.com/inward/record.url?scp=85199665098&partnerID=8YFLogxK
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U2 - 10.1109/ISIE54533.2024.10595694
DO - 10.1109/ISIE54533.2024.10595694
M3 - Conference contribution
AN - SCOPUS:85199665098
T3 - IEEE International Symposium on Industrial Electronics
BT - 2024 33rd International Symposium on Industrial Electronics, ISIE 2024 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 33rd International Symposium on Industrial Electronics, ISIE 2024
Y2 - 18 June 2024 through 21 June 2024
ER -