This paper presents a trajectory planning approach and an analysis of the geometric design parameters for a planar cable-suspended translational parallel robot based on a parallelogram cable loop. The cable robot produces purely translational movements in a planar workspace. Furthermore, this special architecture only requires two actuators which makes it fully actuated. From the dynamic model of the robot, general algebraic inequalities are obtained that ensure that the cables remain taut. A general elliptic trajectory is then defined and substituted into the algebraic inequalities to obtain conditions on the geometrical design parameters that ensure that the cables are always in tension. In addition, a special trajectory-specific oscillation frequency emerges and enables the end-effector to dynamically move beyond the boundaries of the static workspace, thus expanding the workspace of the mechanism. Finally, a kinematic sensitivity index is studied in order to assess the influence of the parallelogram structure on the rotational stability of the mechanism.
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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
Dynamic Trajectory Planning and Geometric Design of a Two-DOF Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop
Jordan M. Longval,
Jordan M. Longval
Université Laval, Québec, QC, Canada
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Clément Gosselin
Clément Gosselin
Université Laval, Québec, QC, Canada
Search for other works by this author on:
Jordan M. Longval
Université Laval, Québec, QC, Canada
Clément Gosselin
Université Laval, Québec, QC, Canada
Paper No:
DETC2018-85138, V05BT07A030; 10 pages
Published Online:
November 2, 2018
Citation
Longval, JM, & Gosselin, C. "Dynamic Trajectory Planning and Geometric Design of a Two-DOF Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop." 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. V05BT07A030. ASME. https://doi.org/10.1115/DETC2018-85138
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