Robots parallèles à câbles

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1 Robots parallèles à câbles Marc Gouttefarde LIRMM CNRS / Université de Montpellier Séminaire Technique : Robotique industrielle LIRMM, 24 novembre 2016

2 CABLE-DRIVEN PARALLEL ROBOTS Base frame Winches Cables Mobile platform R. Verhoeven (SEGESTA, Duisburg University)

3 FULLY CONSTRAINED PARALLEL CABLE ROBOTS When the cables properly surround the mobile platform Any wrench applied to the mobile platform can be balanced by the cables (only pulling on the platform) : the platform is fully constrained by the cables

4 CABLE-SUSPENDED PARALLEL ROBOTS When the cable drawing points are all located above the platform g mg Not fully constrained f Slack cables

5 SOME POSSIBLE APPLICATIONS FULLY-CONSTRAINED ROBOTS Light weight: High Speed manipulation Ultra High-Speed Robot FALCON Kawamura et al., 1995 Max.: 43G, 13m/s DeltaBOT ( hybrid ) Khajepour et al., cycles per minute

6 SOME POSSIBLE APPLICATIONS FULLY-CONSTRAINED ROBOTS Light weight and compact: Space applications Thompson et al., 1996 McDonnell-Douglas Charlotte Robot Campbell et al., 1995

7 SOME APPLICATIONS - FULLY CONSTRAINED ROBOTS Cables or wires are discreet (non intrusive): Wind tunnel SACSO (Lafourcade, Llibre, Reboulet, 2002) Suspension active pour soufflerie

SPIDAR (Ishii and Sato, 1994) Virtual Sport Machine

8 SOME APPLICATIONS - FULLY CONSTRAINED ROBOTS Cables or wires are discreet (non intrusive): Haptic interfaces SPIDAR (Ishii and Sato, 1994) Virtual Sport Machine (Kawamura et al., 1993) Texas 9-string (Linemann and Tesar, 1989)

9 SOME APPLICATIONS - FULLY CONSTRAINED ROBOTS Cables or wires are discreet (non intrusive): Haptic interfaces Takeda et al., 2000 Rowing simulator (von Zitzewitz, 2009) WiRo 6-3 (Ferraresi et al., 2004) Medical application (Abdelaziz, 2011)

10 SOME APPLICATIONS - FULLY CONSTRAINED ROBOTS Cables or wires are discreet (non intrusive): Haptic interfaces INCA 6D, Haption SA

11 SOME APPLICATIONS - FULLY CONSTRAINED ROBOTS high dynamics, large rotations MPI Simulator (Germany)

Contour crafting system (Williams et al.

12 SOME APPLICATIONS - FULLY CONSTRAINED ROBOTS Very large workspace Means of avoiding cable collisions Contour crafting system (Williams et al., 2008) Integration on a building facade (Izard et al., 2012)

13 SOME POSSIBLE APPLICATIONS CABLE-SUSPENDED ROBOTS Huge workspace Skycam No cable cluttering the workspace below the platform

14 SOME POSSIBLE APPLICATIONS CABLE-SUSPENDED ROBOTS Huge workspace and heavy payloads Aircraft painting and stripping PaR Systems (USA) NIST ROBOCRANE (Albus et al.), 1980s 1990s

15 SOME POSSIBLE APPLICATIONS CABLE-SUSPENDED ROBOTS Giant Telescopes Chinese project FAST Rescue Systems LAR (Large Adpative Reflector) - Canada Portable rescue system (Tadokoro, 1999) Rescue crane (Merlet, 2010)

16 A REDUNDANTLY ACTUATED CABLE-SUSPENDED PARALLEL ROBOT Dimensions: 15 m x 11 m x 6 m (L x l x h) Payload capacity: up to 500 kg Large workspace to footprint ratio The cable-driven parallel robot of the CoGiRo ANR project (LIRMM/Tecnalia)

17 WELL-KNOWN ART Most components of a cable-driven parallel robot: standard modeling and design Mobile platform: a rigid body Deflection units Winches

18 SOME ISSUES: WRENCH FEASIBLE WORKSPACE DETERMINATION Discretization Determination of the boundaries By means of interval analysis

19 SOME ISSUES: GEOMETRY SELECTION m = # cables Cable exit points Cable attachment points Geometry design space dimension (spatial robot): 3 x m + 3 x m = 6 x m (e.g. for m = 8, dimension = 48) A very wide space Geometry of a cable-driven parallel robot: + Geometry of the mobile platform (cable attachment points) + Geometry of the base frame (cable exit points) + Arrangement of cables between base and platform

20 SOME ISSUES: GEOMETRY SELECTION Global view on geometry selection: A tradeoff, e.g., between cable collision avoidance and large wrench-feasible workspace (which typically requires crossed cable layouts) Best planar 3-DOF 4-cable fully constrained robot Locomotion interface (Perreault et al., 2009)

21 SOME ISSUES: GEOMETRY SELECTION Play a fundamental role for the cable robot overall performances

22 SOME ISSUES: MODELING HEFTY AND/OR ELASTIC CABLES Inverse kinematics Massless elastic cables: l 0i = l i - Δl i o strained length l i given by distance between cable exit and attachment points o elongation Δl i generally considered as being determined by Hooke s law and thus requires the cable tension Cables with non-negligible mass: non-linear system of equations involving kinematics and statics Direct kinematics: non-linear system of equations involving kinematics and statics Complex dynamics

23 PLANNING AND CONTROL Do not ask the cables to push on the mobile platform: tension distribution May have to deal with: very large workspace heavy weights elasticity and sagging possible vibrations redundancy cable collisions transparency A lot of things to say

24 CONCLUSIONS Cable-driven parallel robots a distinctive characteristic: scalability a distinctive issue: cables can only pull on the mobile platform Some useful properties thin cables or wires are discreet and may not be dangerous (relative) light weight of mobile parts portability, modularity, reconfigurability large workspace and heavy payload capabilities A number of issues Force transmission, stiffness, stability, workspace analysis Accuracy Safety

Inverse Kinematics of Cable Driven Parallel Robot.

ISSN: 4-1 May 01 IJSDR Volume 1, Issue Inverse Kinematics of Cable Driven Parallel Robot. 1 Shail P. Maniyar, Arya B. Changela 1 P.G.Scholar, Assistant Professor Mechanical Engineering Department, Marwadi