Cable-driven parallel robots (CDPRs) equipped with less cables than the end-effector (EE) degrees of freedom (DoFs) are underactued and underconstrained by design. These characteristics imply that only a subset of the EE DoFs can be assigned for planning purposes, and that the EE can freely move when actuators are locked. The performance of this class of manipulators has yet to be fully analyzed, since common performance indices for fully or redundantly actuated robots may not directly apply. In this paper, a novel index is proposed, which is tailored for suspended underactuated CDPRs. This index analyses cable-tension sensitivity to cable-length variation, and aims at determining if a static equilibrium configuration is attainable under bounded cable-length control errors. When 4- or 5-cable UACDPRs have to perform positioning tasks, the optimization of such an index may be used to determine the safest EE orientation with respect to actuation errors.

A New Performance Index for Underactuated Cable-Driven Parallel Robots

Ida E.;Carricato M.
2021

Abstract

Cable-driven parallel robots (CDPRs) equipped with less cables than the end-effector (EE) degrees of freedom (DoFs) are underactued and underconstrained by design. These characteristics imply that only a subset of the EE DoFs can be assigned for planning purposes, and that the EE can freely move when actuators are locked. The performance of this class of manipulators has yet to be fully analyzed, since common performance indices for fully or redundantly actuated robots may not directly apply. In this paper, a novel index is proposed, which is tailored for suspended underactuated CDPRs. This index analyses cable-tension sensitivity to cable-length variation, and aims at determining if a static equilibrium configuration is attainable under bounded cable-length control errors. When 4- or 5-cable UACDPRs have to perform positioning tasks, the optimization of such an index may be used to determine the safest EE orientation with respect to actuation errors.
Cable-Driven Parallel Robots - Proceedings of the 5th International Conference on Cable-Driven Parallel Robots
24
36
Ida E.; Carricato M.
File in questo prodotto:
File Dimensione Formato  
Ida-Carricato_CableCon2021_published.pdf

accesso riservato

Descrizione: Full-text published article
Tipo: Versione (PDF) editoriale
Licenza: Licenza per accesso riservato
Dimensione 420.78 kB
Formato Adobe PDF
420.78 kB Adobe PDF   Visualizza/Apri   Contatta l'autore
Ida-Carricato-Cableon2021_pp.pdf

Open Access dal 01/06/2022

Tipo: Postprint
Licenza: Licenza per accesso libero gratuito
Dimensione 763.16 kB
Formato Adobe PDF
763.16 kB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/826613
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 6
  • ???jsp.display-item.citation.isi??? ND
social impact