Effect of selection criterion on the kineto-static solution of a redundant cable-driven parallel robot considering cable mass and elasticity. (February 2021)

• Record Type: Journal Article
• Authors: Chawla, Ishan; Pathak, P.M.; Notash, Leila; Samantaray, A.K.; Li, Qingguo; Sharma, U.K.
• Is Part Of: Mechanism and machine theory. Volume 156(2021)
• Publication Date: 2021-02
• Subjects: Cable-driven parallel robot -- Kineto-static analysis -- Redundant cables -- Catenary cables -- Selection criterion -- Sagging cables; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2020.104175
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: Multiplicity of solutions is studied for redundant robot using catenary cables. Effect of selection criterion on sagging, elongations and cable tensions is analyzed. A rigorous comparative analysis is done against conventional cable models. Various cables, payloads and selection criteria are utilized for comparative analysis. Helps in selecting appropriate cable model, selection criterion, actuators and cables. Abstract: Cable mass and elasticity play a prominent role in analyzing large-scale cable-driven parallel robots (CDPR). However, for catenary cables (i.e., cables with mass and elasticity), the inverse kinematics of CDPR becomes a non-linear kineto-static problem. Furthermore, for redundant CDPR, this leads to multiple kineto-static solutions. This paper focuses on investigating various selection criteria to determine a unique kineto-static solution for the redundant over-constrained CDPR. For this investigation, the effect of the proposed selection criteria on sagging, elastic elongations and cable tensions are analyzed. Appropriate selection criteria, according to the application requirements, are proposed. Additionally, a rigorous study is done to analyze the effect of considering conventional cable models (i.e., massless rigid and massless elastic cable model) instead of the catenary cable model for various payloads, cables, and selection criteria. This helps in determining when a massless rigid/elastic cable model can be used as an alternative to the catenary cable model, which in turn, can avoid the additional computational complexity. The proposed analysis is beneficial in appropriate selection of actuators, cables, selection criteria and model complexity for a given redundant CDPR.