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Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration

Published online by Cambridge University Press:  16 March 2021

Rajesh Kumar Open the ORCID record for Rajesh Kumar [Opens in a new window]  and
Sudipto Mukherjee
Rajesh Kumar*
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, II-420, Mechatronics Lab, Delhi 110016, India E-mail: sudipto@mech.iitd.ac.in
Sudipto Mukherjee
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, II-420, Mechatronics Lab, Delhi 110016, India E-mail: sudipto@mech.iitd.ac.in
*
*Corresponding author. E-mail: rajeshkr96@gmail.com
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Summary

Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have traditional limitations. This paper analyzes and generates manipulator configurations that reduce the effect of these two essential hindrances of deploying CDPMs. A methodology, inspired by rigid body dynamics of multiple contact problems, used to optimize the positions of attachment points, is shown to be effective.

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Type
Article
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Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2153 - 2171
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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