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Workspace analysis of a cable-suspended robot with active/passive cables
, Article Proceedings of the ASME Design Engineering Technical Conference ; Volume 6 A , August , 2013 ; 9780791855935 (ISBN) ; Zohoor, H ; Sharif University of Technology
American Society of Mechanical Engineers
2013
Abstract
Cable-driven parallel robots have several outstanding characteristics that make them unique in many robotic applications. Since cables can only pull, one of the most important issues associated with these robots is obtaining their workspace. In this paper a spatial translational cable-driven robot with active/passive cables is considered and its workspace is investigated from several points of views. First the moment resisting capability of the robot is discussed and the effects of some robot's parameters on the workspace are studied. Then, both force-feasibility and moment-resisting capability of the robot are considered to find the region where the end-effector may exert the required...
Kinematic Design of a Multi-link Cable-driven Robot for Hand Rehabilitation
, M.Sc. Thesis Sharif University of Technology ; Hassan Zohoor (Supervisor)
Abstract
Rehabilitation science has been proved that, in most cases, manipulation of injured body part, repeatedly, can help in returning the performance of that part. So robots can be useful for rehabilitation applications. Rehabilitation robots can record physical parameters such as position, velocity and force, so can play important role in developmentof making decisions on exercise types. Among the existing robots, cable-driven robots have specifications such as vast workspace, low cost, flexibility and light weight which make them suitable for rehabilitation applications.
The purpose of this research is kinematic design of a multi-link cable-driven robot for arm rehabilitation.In the most of...
The purpose of this research is kinematic design of a multi-link cable-driven robot for arm rehabilitation.In the most of...
Workspace Analisys of A Multi-Link Cable-Driven Robot With Multiple Connection Of Cable to Multi-Link
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
As technology develops, the need of instruments which could be used for improving the rate and accuracy of the manufacturing increases. This makes the robots inevitable to use in most industries. Among the robots, cable-driven robots have special characteristics that increase the tendency of using them.Multi-body cable-driven robots are novel type of cable-driven robots that have advantages compared to single-body ones. Capability of use in rehabilitation applications, in which the different parts of human body have to move separately, is one of the advantages of multi-body cable-driven robots.The first aim of this thesis is to extend the tensionable workspace concept for multi-body...
Modeling, control and simulation of a new large scale cable-driven robot
, Article Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 ; Volume 7, Issue PARTS A AND B , 2009 , p. 11-16 ; ISBN: 9780791849040 ; Behzadipour, S ; Ghahremani, F ; Alasty, A ; Vanini, S. A. S ; Sharif University of Technology
Abstract
In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is...
Modeling, control and simulation of a new large scale cable-driven robot
, Article Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, 30 August 2009 through 2 September 2009 ; Volume 7, Issue PART A , August , 2010 , Pages 11-16 ; 9780791849040 (ISBN) ; Behzadipour, S ; Ghahremani, F ; Alasty, A ; Sadough Vanini, S. A ; The Design Engineering Division, ASME; The Computers and Information in Engineering Division, ASME ; Sharif University of Technology
2010
Abstract
In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is...
Geometric Analysis and Dynamic Trajectory of a 5-DOF Cable-Suspended Spatial Parallel Robot
, M.Sc. Thesis Sharif University of Technology ; Fallah, Famida (Supervisor) ; Zohoor, Hassan (Supervisor)
Abstract
Cable-driven parallel robots (CDPRs) form a class of robotic manipulator in which the actuation end-effector is transmitted through cables. Due to the unique characteristics and advantages of cable transmission, CDPRs have become increasingly studied in recent years. In this thesis, the study of Geometric Analysis and Dynamic Trajectory of a 5-DOF Cable-Suspended Spatial Parallel Robot is investigated. Geometric analysis is corresponds to the workspace on which the robot is designed. The design of cable mechanisms allows the robot to be used with appropriate configuration in various fields such as industry, medicine, etc. The study of CDPR design has been limited due to several reasons....
Design of a large-scale cable-driven robot with translational motion
, Article Robotics and Computer-Integrated Manufacturing ; Vol. 27, Issue 2 , April , 2011 , Pages 357-366 ; ISSN: 07365845 ; Behzadipour, S ; Alasty, A ; Sadough Vanini, S. A ; Sharif University of Technology
Abstract
The design of a new cable-driven robot for large-scale manipulation is presented with focus on the tension condition in the cables. In this robot, the arrangement of the cables is such that the moving platform has three translational motions. The robot has potentials for large-scale robotic manipulations, machining of large parts and material handling. The design analysis presented here is towards the synthesis of the robot as well as the sizing of the actuators and cables. The synthesis of this robot is dependent on the results of the tensionable workspace analysis previously published by the Alikhani et al. [6]. The analysis of the cable forces is presented in detail, which is then used to...
Modeling, control and simulation of a new large scale cable-driven robot
, Article Proceedings of the ASME Design Engineering Technical Conference, 30 August 2009 through 2 September 2009 ; Volume 7, Issue PARTS A AND B , 2009 , Pages 11-16 ; 9780791849040 (ISBN) ; Behzadipour, S ; Ghahremani, F ; Alasty, A ; Sadough Vanini, S.A ; Sharif University of Technology
Abstract
In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is...
Kinematic and Dynamic Analysis and Workspace Optimization of a 3DoF Cable-Based Parallel Robot
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For...