Cable-driven parallel robots offer several benefits in terms of workspace size and design cost with respect to rigid-link manipulators. However, implementing an emergency procedure for these manipulators is not trivial, since stopping the actuators abruptly does not imply that the end-effector rests at a stable position. This paper improves a previous recovery strategy by introducing the physics of the actuators, i.e., torque limits, inertia, and friction. Such features deeply affect the reachable acceleration during the recovery trajectory. The strategy has been applied to a simulated point-mass suspended cable robot with three translational degrees of freedom to prove its effectiveness and feasibility. The acceleration limits during the recovery phase were compared with the ones obtained with the previous method, thus confirming the necessity of contemplating the properties of the actuators. The proposed strategy can be implemented in a real-time environment, which makes it suitable for immediate application to an industrial environment.

Improving a cable robot recovery strategy by actuator dynamics

Boschetti G.
;
Minto R.;Trevisani A.
2020

Abstract

Cable-driven parallel robots offer several benefits in terms of workspace size and design cost with respect to rigid-link manipulators. However, implementing an emergency procedure for these manipulators is not trivial, since stopping the actuators abruptly does not imply that the end-effector rests at a stable position. This paper improves a previous recovery strategy by introducing the physics of the actuators, i.e., torque limits, inertia, and friction. Such features deeply affect the reachable acceleration during the recovery trajectory. The strategy has been applied to a simulated point-mass suspended cable robot with three translational degrees of freedom to prove its effectiveness and feasibility. The acceleration limits during the recovery phase were compared with the ones obtained with the previous method, thus confirming the necessity of contemplating the properties of the actuators. The proposed strategy can be implemented in a real-time environment, which makes it suitable for immediate application to an industrial environment.
2020
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/3355739
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 7
  • ???jsp.display-item.citation.isi??? 4
  • OpenAlex ND
social impact