Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots
This dissertation studies the geometric static problem of under-constrained cable-driven parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables relating to the platform posture...
Main Author: | |
---|---|
Other Authors: | |
Format: | Doctoral Thesis |
Language: | en |
Published: |
Alma Mater Studiorum - Università di Bologna
2014
|
Subjects: | |
Online Access: | http://amsdottorato.unibo.it/6627/ |
id |
ndltd-unibo.it-oai-amsdottorato.cib.unibo.it-6627 |
---|---|
record_format |
oai_dc |
spelling |
ndltd-unibo.it-oai-amsdottorato.cib.unibo.it-66272014-07-16T05:02:35Z Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots Abbasnejad Matikolaei, Ghasem <1984> ING-IND/13 Meccanica applicata alle macchine This dissertation studies the geometric static problem of under-constrained cable-driven parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables relating to the platform posture are assigned, an inverse geometric static problem (IGP) must be solved; whereas, when cable lengths are given, a direct geometric static problem (DGP) must be considered. Both problems are challenging, as the robot continues to preserve some degrees of freedom even after n variables are assigned, with the final configuration determined by the applied forces. Hence, kinematics and statics are coupled and must be resolved simultaneously. In this dissertation, a general methodology is presented for modelling the aforementioned scenario with a set of algebraic equations. An elimination procedure is provided, aimed at solving the governing equations analytically and obtaining a least-degree univariate polynomial in the corresponding ideal for any value of n. Although an analytical procedure based on elimination is important from a mathematical point of view, providing an upper bound on the number of solutions in the complex field, it is not practical to compute these solutions as it would be very time-consuming. Thus, for the efficient computation of the solution set, a numerical procedure based on homotopy continuation is implemented. A continuation algorithm is also applied to find a set of robot parameters with the maximum number of real assembly modes for a given DGP. Finally, the end-effector pose depends on the applied load and may change due to external disturbances. An investigation into equilibrium stability is therefore performed. Alma Mater Studiorum - Università di Bologna Carricato, Marco 2014-04-15 Doctoral Thesis PeerReviewed application/pdf en http://amsdottorato.unibo.it/6627/ info:eu-repo/semantics/openAccess |
collection |
NDLTD |
language |
en |
format |
Doctoral Thesis |
sources |
NDLTD |
topic |
ING-IND/13 Meccanica applicata alle macchine |
spellingShingle |
ING-IND/13 Meccanica applicata alle macchine Abbasnejad Matikolaei, Ghasem <1984> Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots |
description |
This dissertation studies the geometric static problem of under-constrained cable-driven
parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables
relating to the platform posture are assigned, an inverse geometric static problem (IGP)
must be solved; whereas, when cable lengths are given, a direct geometric static problem (DGP) must be considered. Both problems are challenging, as the robot continues to
preserve some degrees of freedom even after n variables are assigned, with the final configuration determined by the applied forces. Hence, kinematics and statics are coupled and
must be resolved simultaneously.
In this dissertation, a general methodology is presented for modelling the aforementioned
scenario with a set of algebraic equations. An elimination procedure is provided, aimed at
solving the governing equations analytically and obtaining a least-degree univariate polynomial in the corresponding ideal for any value of n. Although an analytical procedure
based on elimination is important from a mathematical point of view, providing an upper
bound on the number of solutions in the complex field, it is not practical to compute these
solutions as it would be very time-consuming. Thus, for the efficient computation of the
solution set, a numerical procedure based on homotopy continuation is implemented. A
continuation algorithm is also applied to find a set of robot parameters with the maximum
number of real assembly modes for a given DGP. Finally, the end-effector pose depends
on the applied load and may change due to external disturbances. An investigation into
equilibrium stability is therefore performed.
|
author2 |
Carricato, Marco |
author_facet |
Carricato, Marco Abbasnejad Matikolaei, Ghasem <1984> |
author |
Abbasnejad Matikolaei, Ghasem <1984> |
author_sort |
Abbasnejad Matikolaei, Ghasem <1984> |
title |
Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots
|
title_short |
Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots
|
title_full |
Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots
|
title_fullStr |
Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots
|
title_full_unstemmed |
Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots
|
title_sort |
displacement analysis of under-constrained cable-driven parallel robots |
publisher |
Alma Mater Studiorum - Università di Bologna |
publishDate |
2014 |
url |
http://amsdottorato.unibo.it/6627/ |
work_keys_str_mv |
AT abbasnejadmatikolaeighasem1984 displacementanalysisofunderconstrainedcabledrivenparallelrobots |
_version_ |
1716708280373346304 |