Hostname: page-component-78c5997874-94fs2 Total loading time: 0 Render date: 2024-11-10T16:20:36.725Z Has data issue: false hasContentIssue false
  • English
  • Français

Conceptual design and error analysis of a cable-driven parallel robot

Published online by Cambridge University Press:  19 November 2021

Jiaxuan Li Open the ORCID record for Jiaxuan Li [Opens in a new window] ,
Yongjie Zhao Open the ORCID record for Yongjie Zhao [Opens in a new window] ,
Qingqiong Tang ,
Wei Sun ,
Feifei Yuan  and
Xinjian Lu
Jiaxuan Li
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Yongjie Zhao*
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Qingqiong Tang
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Wei Sun
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Feifei Yuan
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Xinjian Lu
Affiliation:
Guangdong Goldenwork Robot Technology Ltd, Foshan City, Guangdong 528226, P. R. China
*
*Corresponding author. E-mail: meyjzhao@stu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.

Keywords

cable-driven parallel robotconceptual designkinematicserror analysissensitivity coefficient
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2152 - 2167
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

Bosscher, P. and Ebert-Uphoff, I., “Wrench-based Analysis of Cable-Driven Robots,” Proceedings of 2004 IEEE International Conference on Robotics and Automation (ICRA) (2004) pp. 4950–4955.Google Scholar
Verhoeven, R. and Hiller, M., “Estimating the controllable workspace of tendon-based Stewart platforms,” Advances in Robot Kinematics (Springer, Dordrecht, 2000) pp. 277–284.CrossRefGoogle Scholar
Abbasnejad, G. and Carricato, M., “Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: A numerical investigation,” Meccanica 47(7), 1761–1773 (2012).CrossRefGoogle Scholar
Yao, R., Tang, X. Q., Li, T. M. and Ren, G. X., “Analysis and design of 3T cable-driven parallel manipulator for the feedback’s orientation of the large radio telescope,” Chin. J. Mech. Eng-En. 43(11), 105–109 (2007).CrossRefGoogle Scholar
Dominjon, L., Perret, J. and Lécuyer, A., “Novel devices and interaction techniques for human-scale haptics,” Visual. Comput. 23(4), 257–266 (2007).CrossRefGoogle Scholar
Hamida, I. B., Laribi, M. A., Mlika, A., Romdhane, L., Zeghloul, S., Carbone, G. et al. “Multi-objective optimal design of a cable driven parallel robot for rehabilitation tasks,” Mech. Mach. Theory online(156):104141 (2021).CrossRefGoogle Scholar
Gonzalez-Rodriguez, A., Castillo-Garcia, F. J., Ottaviano, E., Rea, P. and Gonzalez-Rodriguez, A. G., “On the effects of the design of cable-driven robots on kinematics and dynamics models accuracy,” Mechatronics 43, 18–27 (2017).CrossRefGoogle Scholar
Albus, J., Bostelman, R. and Dagalakis, N., “The NIST robocrane,” J. Rob. Syst. 10(5), 709–724 (1993).CrossRefGoogle Scholar
Gosselin, C. and Grenier, M., “On the determination of the force distribution inoverconstrained cable-driven parallel mechanisms,” Meccanica 46(1), 3–15 (2011).CrossRefGoogle Scholar
He, R. B., Zhao, Y. J. and Yang, S. N., “Kinematic-parameter identification for serial-robot calibration based on POE formula,” IEEE Trans. Rob. 26(3), 411–423 (2010).Google Scholar
Shi, H. L., Su, H. J., Dagalakis, N. and Kramar, J. A., “Kinematic modeling and calibration of a flexure based hexapod nanopositioner,” Precis. Eng. 37(1), 117–128 (2013).CrossRefGoogle Scholar
Wang, Y. B., Pessi, P., Wu, H. P. and Handroos, H., “Accuracy analysis of hybrid parallel robot for the assembling of ITER,” Fusion. Eng. Des. 84(7-11), 1964–1968 (2009).CrossRefGoogle Scholar
Santolaria, J., Juan-José, A., José-Antonio, Y. and Pastor, J., “Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines,” Precis. Eng. 32(4), 251–268 (2008).CrossRefGoogle Scholar
Maurine, P. and Dombre, E., “A Calibration Procedure for the Parallel Robot Delta 4,” Proceedings of 1996 IEEE International Conference on Robotics and Automation (ICRA) (1996) pp. 975–979.Google Scholar
Wang, S. M. and Ehman, K. F., “Errors model and accuracy analysis of a six-DOF stewart platform,” J. Mnuf. Sci. E-T. ASME. 124(2), 519–530 (1995).Google Scholar
Reicherts, S., Blume, S., Reichert, C., Schramm, D. et al. , “Sensitivity analysis of the design parameters for the calibration of cable-driven parallel robots,” Pamm. 16(1), 859–860 (2016).CrossRefGoogle Scholar
Baklouti, S., Caro, S. and Courteille, E., “Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots,” Cable-Driven Parallel Robots. Mechanisms and Machine Science(Springer, Cham, 2018) pp. 37–49.CrossRefGoogle Scholar
Aref, M. M., Gholami, P. and Taghirad, H. D., “Dynamic and Sensitivity Analysis of KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator,” Proceedings of 2008 IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications (MESA) (2008) pp. 528–533.Google Scholar
Shi, Z. C. and Liu, S. H., Institutional accuracy, (CHEP, Beijing, 1995).Google Scholar
Liu, H., Huang, T. and Chetwynd, D. G., “A general approach for geometric error modeling of lower mobility parallel manipulators,” J. Mech. Robot. 3(2), 021013 (2011).CrossRefGoogle Scholar
Huang, T., Li, Y., Tang, G. B., Li, S. W., Zhao, X. Y., Whitehouse, D. J., Chetewyn, D. G. and Liu, X. P., “Error modeling, sensitivity analysis and assembly process of a class of 3-DOF parallel kinematic machines with parallelogram struts,” Sci. China. Ser. E. 45(5), 467–476 (2002).Google Scholar
Zi, Z., “Sensitivity analysis approaches applied to systems biology models,” IET. Syst. Biol. 5(6), 336–346 (2011).CrossRefGoogle ScholarPubMed
A. Pott, “Influence of Pulley Kinematics on Cable-Driven Parallel Robots,” In: Latest Advances in Robot Kinematics (2012) pp. 197–204.Google Scholar
Cui, G. H., Zhang, Y. W., Zhang, Y. S. and Hao, W. J., “Configuration design and analysis of a new 3-SPS/S spatial rotation parallel manipulator,” J. Jilin. U Technol. Ed. 39(S1), 200–205 (2009).Google Scholar
Liu, X., Qiu, Y. Y. and Sheng, Y., “Stiffness enhancement and motion control of a 6-DOF wire-driven parallel manipulator with redundant actuations for wind tunnels,” Acta. Aeronau. Astronaut. Sin. 30(006), 1156–1164 (2009).Google Scholar
Rosati, G., Gallina, P. and Masiero, S., “Design, implementation and clinical tests of a wire-based robot for neurorehabilitation,” IEEE Trans. Neur. Syst. Reh. 15(4), 560–569 (2007).CrossRefGoogle ScholarPubMed
Ying, M. and Agrawal, S. K., “Wearable Cable-Driven Upper Arm Exoskeleton-Motion with Transmitted Joint Force and Moment Minimization,” Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA) (2010) pp. 4334–4339.Google Scholar
Verhoeven, R., Analysis of the Workspace of Tendon-Based Stewart Platforms Ph.D. Thesis (University of Duisburg-Essen, 2004).Google Scholar
Zhao, Y. J., Gao, F., Dong, X. J. and Zhao, X. C., “Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart—the 6-PSS parallel manipulator,” Mech. Mach. Theory 45(2), 291–303 (2010).CrossRefGoogle Scholar
Gallina, P. and Rosati, G., “Manipulability of a planar wire driven haptic device,” Mech. Mach. Theory. 37(2), 215–228 (2002).CrossRefGoogle Scholar
Chen, Y., Xie, F., Liu, X. and Zhou, Y. H., “Error modeling and sensitivity analysis of a parallel robot with SCARA (Selective Compliance Assembly Robot Arm) motions,” Chin. J. Mech. Eng-En. 27(4), 693–702 (2014).CrossRefGoogle Scholar
Hong, Z. Y., Mei, J. P., Zhao, X. M. and Huang, T., “Error modeling and sensitivity analysis of reconfigurable hybrid robot module Trivariant,” Chin. J. Mech. Eng-En. 42(12), 65–69 (2006).CrossRefGoogle Scholar
Fan, K. C., Wang, H., Zhao, J. W. and Chang, T. H., “Sensitivity analysis of the 3-PRS parallel kinematic spindle platform of a serial-parallel machine tool,” Int. J. Mach. Tool. Manu. 43(15), 1561–1569 (2003).CrossRefGoogle Scholar
Miermeister, P., Kraus, W., Lan, T. and Pott, A., “An elastic cable model for cable-driven parallel robots including hysteresis effects,”Cable-Driven Parallel Robots. Mechanisms and Machine Science(Springer, Cham, 2015) pp. 17–28.CrossRefGoogle Scholar
Zi, B., Ding, H., Wu, X. and Kecskeméthy, A., “Error modeling and sensitivity analysis of a hybrid-driven based cable parallel manipulator,” Precis. Eng. 38(1), 197–211(2014).CrossRefGoogle Scholar
Cheng, K., Lu, Z. Z. and Zhang, K. C., “Multivariate output global sensitivity analysis using multi-output support vector regression,” Struct. Multidiscip. O. 59(6), 2177–2187 (2019).CrossRefGoogle Scholar
Zi, B., Mechanics analysis and tracking control technology of hybrid-driven based cable parallel robots, (CSP, Beijing, 2013).Google Scholar