Hostname: page-component-586b7cd67f-gb8f7 Total loading time: 0 Render date: 2024-11-27T19:23:45.622Z Has data issue: false hasContentIssue false
  • English
  • Français

Rapid and safe wire tension distribution scheme for redundant cable-driven parallel manipulators

Published online by Cambridge University Press:  07 December 2021

Mohammad Reza Mousavi ,
Masoud Ghanbari ,
S. Ali A. Moosavian  and
Payam Zarafshan Open the ORCID record for Payam Zarafshan [Opens in a new window]
Mohammad Reza Mousavi
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Laboratory, Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Masoud Ghanbari
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Laboratory, Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
S. Ali A. Moosavian
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Laboratory, Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Payam Zarafshan*
Affiliation:
Department of Agro-Technology, College of Aburaihan, University of Tehran, Pakdasht, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

A non-iterative analytical approach is investigated to plan the safe wire tension distribution along with the cables in the redundant cable-driven parallel robots. The proposed algorithm considers not only tracking the desired trajectory but also protecting the system against possible failures. This method is used to optimize the non-negative wire tensions through the cables which are constrained based on the workspace conditions. It also maintains both actuators’ torque and cables’ tensile strength boundary limits. The pseudo-inverse problem solution leads to an n-dimensional convex problem, which is related to the robot degrees of redundancy. In this paper, a comprehensive solution is presented for a 1–3 degree(s) of redundancy in wire-actuated robots. To evaluate the effectiveness of this method, it is verified through an experimental study on the RoboCab cable robot in the infinity trajectory tracking task. As a matter of comparison, some standard methods like Active-set and sequential quadratic programming are also presented and the average elapsed time for each method is compared to the proposed algorithm.

Keywords

cable tension distributionredundant manipulatorsconvex problem
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2395 - 2408
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Sanjeevi, N. and Vashista, V., “Stiffness modulation of a cable-driven leg exoskeleton for effective human–robot interaction,” Robotica 39(12), 1–21 (2021).CrossRefGoogle Scholar
Shiang, W.-J., Cannon, D. and Gorman, J., “Optimal Force Distribution Applied to a Robotic Crane with Flexible Cables,” Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065), vol. 2 (IEEE, San Francisco, CA) pp. 1948–1954.Google Scholar
Verhoeven, R. and Hiller, M., “Tension Distribution in Tendon-based Stewart Platforms,” In: Advances in Robot Kinematics (Springer, Dordrecht, Netherlands, 2002) pp. 117–124.CrossRefGoogle Scholar
Fang, S., Franitza, D., Torlo, M., Bekes, F. and Hiller, M., “Motion control of a tendon-based parallel manipulator using optimal tension distribution,” IEEE/ASME Trans. Mechatron. 9(3), 561–568 (2004).CrossRefGoogle Scholar
Oh, S.-R. and Agrawal, S. K., “Cable suspended planar robots with redundant cables: Controllers with positive tensions,” IEEE Trans. Rob. 21(3), 457–465 (2005).Google Scholar
Bosscher, P., Riechel, A. T. and Ebert-Uphoff, I., “Wrench-feasible workspace generation for cable-driven robots,” IEEE Trans. Rob. 22(5), 890–902 (2006).CrossRefGoogle Scholar
Bruckmann, T., Pott, A. and Hiller, M., “Calculating Force Distributions for Redundantly Actuated Tendon-based Stewart Platforms,” In: Advances in Robot Kinematics (Springer, Dordrecht, Netherlands, 2006) pp. 403–412.CrossRefGoogle Scholar
Mikelsons, L., Bruckmann, T., Hiller, M. and Schramm, D., “A Real-Time Capable Force Calculation Algorithm for Redundant Tendon-based Parallel Manipulators,” In: 2008 IEEE International Conference on Robotics and Automation (IEEE, Pasadena, CA) pp. 3869–3874.Google Scholar
Hassan, M. and Khajepour, A., “Optimization of actuator forces in cable-based parallel manipulators using convex analysis,” IEEE Trans. Rob. 24(3), 736–740 (2008).CrossRefGoogle Scholar
Gouttefarde, M., Daney, D. and Merlet, J.-P., “Interval-analysis-based determination of the wrench-feasible workspace of parallel cable-driven robots,” IEEE Trans. Rob. 27(1), 1–13 (2010).CrossRefGoogle Scholar
Taghirad, H. D. and Bedoustani, Y. B., “An analytic-iterative redundancy resolution scheme for cable-driven redundant parallel manipulators,” IEEE Trans. Rob. 27(6), 1137–1143 (2011).CrossRefGoogle Scholar
Lim, W. B., Yeo, S. H. and Yang, G., “Optimization of tension distribution for cable-driven manipulators using tension-level index,” IEEE/ASME Trans. Mechatron. 19(2), 676–683 (2013).CrossRefGoogle Scholar
Notash, L., “Designing Positive Tension for Wire-Actuated Parallel Manipulators,” In: Advances in Mechanisms, Robotics and Design Education and Research (Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, 2013) pp. 251–263.CrossRefGoogle Scholar
Pott, A., “An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots,” In: Computational Kinematics (Springer, Heidelberg, Germany, 2014) pp. 139–146.CrossRefGoogle Scholar
Gouttefarde, M., Lamaury, J., Reichert, C. and Bruckmann, T., “A versatile tension distribution algorithm for n -dof parallel robots driven by n+2 cables,” IEEE Trans. Rob. 31(6), 1444–1457 (2015).CrossRefGoogle Scholar
Zhou, X., Jun, S.-k. and Krovi, V., “Tension distribution shaping via reconfigurable attachment in planar mobile cable robots,” Robotica 32(2), 245 (2014).CrossRefGoogle Scholar
Yuan, H., Courteille, E. and Deblaise, D., “Force distribution with pose-dependent force boundaries for redundantly actuated cable-driven parallel robots,” J. Mech. Rob. 8(4), 041004 (2016).CrossRefGoogle Scholar
Notash, L., “On the solution set for positive wire tension with uncertainty in wire-actuated parallel manipulators,” J. Mech. Rob. 8(4), 044506 (2016).CrossRefGoogle Scholar
Ghanbari, M., Mousavi, M. R., Moosavian, S. A. A., Nasr, A. and Zarafshan, P., “Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot,” 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) (The American Society of Mechanical Engineers (ASME), USA) pp. 33–38.Google Scholar
Ghanbari, M., Mousavi, M., Moosavian, S. A. A. and Zarafshan, P., “Modeling, optimal path planning and tracking control of a cable driven redundant parallel robot,” Modares Mech. Eng. 17(4), 67–77 (2017b).Google Scholar
Yang, K., Yang, G., Wang, Y., Zhang, C. and Chen, S., “Stiffness-Oriented Cable Tension Distribution Algorithm for a 3-DOF Cable-Driven Variable-Stiffness Module,” 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (Tarbiat Modares University, Tehran, Iran) pp. 454–459.Google Scholar
Hussein, H., Santos, J. C., Izard, J. B. and Gouttefarde, M., “Smallest maximum cable tension determination for cable-driven parallel robots,” IEEE Trans. Rob., 37(4), 1–20 (2020).Google Scholar
, E. Ueland, , Sauder, T. and Skjetne, R., “Optimal force allocation for overconstrained cable-driven parallel robots: Continuously differentiable solutions with assessment of computational efficiency,” IEEE Trans. Rob., 37(2), 1–8 (2020).Google Scholar
Rasheed, T., Long, P., Marquez-Gamez, D. and Caro, S., “Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots,” In: Cable-Driven Parallel Robots (Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, 2018) pp. 268–279.CrossRefGoogle Scholar
Cui, Z., Tang, X., Hou, S. and Sun, H., “Non-iterative geometric method for cable-tension optimization of cable-driven parallel robots with 2 redundant cables,” Mechatronics 59(1), 49–60 (2019).CrossRefGoogle Scholar
Jamshidifar, H. and Khajepour, A., “Static workspace optimization of aerial cable towed robots with land-fixed winches,” IEEE Trans. Rob. 36(5), 1603–1610 (2020).CrossRefGoogle Scholar
Jamshidifar, H., Khajepour, A. and Korayem, A. H., “Wrench feasibility and workspace expansion of planar cable-driven parallel robots by a novel passive counterbalancing mechanism,” IEEE Trans. Rob., 37(3), 1–13 (2020).Google Scholar
Mattioni, V., IdÀ, E. and Carricato, M., “Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation,” International Conference on Cable-Driven Parallel Robots (Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ) pp. 129–141.Google Scholar
Rubio-GÓmez, G., JuÁrez-PÉrez, S., Gonzalez-Rodrguez, A., Rodrguez-Rosa, D., Corral-GÓmez, L., LÓpez-Daz, A. I., Payo, I. and Castillo-Garca, F. J., “New sensor device to accurately measure cable tension in cable-driven parallel robots,” Sensors 21(11), 3604 (2021).CrossRefGoogle ScholarPubMed
Boschetti, G., Carbone, G. and Passarini, C., “Cable failure operation strategy for a rehabilitation cable-driven robot,” Robotics 8(1), 17 (2019).CrossRefGoogle Scholar
Hamida, I. B., Laribi, M. A., Mlika, A., Romdhane, L., Zeghloul, S. and Carbone, G., “Multi-objective optimal design of a cable driven parallel robot for rehabilitation tasks,” Mech. Mach. Theory 156(1), 104141 (2021).CrossRefGoogle Scholar
Ouyang, B. and Shang, W., “Rapid optimization of tension distribution for cable-driven parallel manipulators with redundant cables,” Chin. J. Mech. Eng. 29(2), 231–238 (2016).CrossRefGoogle Scholar
Lamaury, J. and Gouttefarde, M., “A Tension Distribution Method with Improved Computational Efficiency,” In: Cable-Driven Parallel Robots (Springer, Cham, Switzerland, 2013) pp. 71–85.CrossRefGoogle Scholar
Borgstrom, P. H., Jordan, B. L., Sukhatme, G. S., Batalin, M. A. and Kaiser, W. J., “Rapid computation of optimally safe tension distributions for parallel cable-driven robots,” IEEE Trans. Rob. 25(6), 1271–1281 (2009).CrossRefGoogle Scholar
Mousavi, M., Ghanbari, M., Moosavian, S. A. A. and Zarafshan, P., “Explicit dynamics of redundant parallel cable robots,” Nonlinear Dyn. 94(3), 197–205 (2018).CrossRefGoogle Scholar
Verhoeven, R., Analysis of the Workspace of Tendon-based Stewart Platforms Ph.D. Thesis (UniversitÄt Duisburg-Essen, 2006).Google Scholar
Pott, A., Cable-Driven Parallel Robots: Theory and Application, vol. 120 (Springer, Cham, 2018).CrossRefGoogle Scholar
Bouchard, S., Gosselin, C. and Moore, B., “On the ability of a cable-driven robot to generate a prescribed set of wrenches,” J Mech Robot. 2(1), 1–10 (2010).CrossRefGoogle Scholar