Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCDPRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.
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ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5181-4
PROCEEDINGS PAPER
Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots
Tahir Rasheed,
Tahir Rasheed
École Centrale de Nantes, Nantes, France
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Philip Long,
Philip Long
Northeastern University, Boston, MA
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David Marquez-Gamez,
David Marquez-Gamez
IRT Jules Verne, Bouguenais, France
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Stéphane Caro
Stéphane Caro
CNRS, Nantes, France
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Tahir Rasheed
École Centrale de Nantes, Nantes, France
Philip Long
Northeastern University, Boston, MA
David Marquez-Gamez
IRT Jules Verne, Bouguenais, France
Stéphane Caro
CNRS, Nantes, France
Paper No:
DETC2018-86182, V05BT07A025; 10 pages
Published Online:
November 2, 2018
Citation
Rasheed, T, Long, P, Marquez-Gamez, D, & Caro, S. "Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 42nd Mechanisms and Robotics Conference. Quebec City, Quebec, Canada. August 26–29, 2018. V05BT07A025. ASME. https://doi.org/10.1115/DETC2018-86182
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