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Journal articles on the topic 'Cable-driven serial kinematic chain'
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1
Yigit, Cihat Bora, and Pinar Boyraz. "Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics." Mechanical Sciences 8, no. 1 (March 22, 2017): 65–77. http://dx.doi.org/10.5194/ms-8-65-2017.
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Abstract. The robotics, particularly the humanoid research field, needs new mechanisms to meet the criteria enforced by compliance, workspace requirements, motion profile characteristics and variable stiffness using lightweight but robust designs. The mechanism proposed herein is a solution to this problem by a parallel-series hybrid mechanism. The parallel term comes from two cable-driven plates supported by a compression spring in between. Furthermore, there is a two-part concentric shaft, passing through both plates connected by a universal joint. Because of the kinematic constraints of the universal joint, the mechanism can be considered as a serial chain. The mechanism has 4 degrees of freedom (DOF) which are pitch, roll, yaw motions and translational movement in z axis for stiffness adjustment. The kinematic model is obtained to define the workspace. The helical spring is analysed by using Castigliano's Theorem and the behaviour of bending and compression characteristics are presented which are validated by using finite element analysis (FEA). Hence, the dynamic model of the mechanism is derived depending on the spring reaction forces and moments. The motion experiments are performed to validate both kinematic and dynamic models. As a result, the proposed mechanism has a potential use in robotics especially in humanoid robot joints, considering the requirements of this robotic field.
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Nie, Xichun, and Venkat Krovi. "Fourier Methods for Kinematic Synthesis of Coupled Serial Chain Mechanisms." Journal of Mechanical Design 127, no. 2 (March 1, 2005): 232–41. http://dx.doi.org/10.1115/1.1829726.
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Single degree-of-freedom coupled serial chain (SDCSC) mechanisms are a class of mechanisms that can be realized by coupling successive joint rotations of a serial chain linkage, by way of gears or cable-pulley drives. Such mechanisms combine the benefits of single degree-of-freedom design and control with the anthropomorphic workspace of serial chains. Our interest is in creating articulated manipulation-assistive aids based on the SDCSC configuration to work passively in cooperation with the human operator or to serve as a low-cost automation solution. However, as single-degree-of-freedom systems, such SDCSC-configuration manipulators need to be designed specific to a given task. In this paper, we investigate the development of a synthesis scheme, leveraging tools from Fourier analysis and optimization, to permit the end-effectors of such manipulators to closely approximate desired closed planar paths. In particular, we note that the forward kinematics equations take the form of a finite trigonometric series in terms of the input crank rotations. The proposed Fourier-based synthesis method exploits this special structure to achieve the combined number and dimensional synthesis of SDCSC-configuration manipulators for closed-loop planar path-following tasks. Representative examples illustrate the application of this method for tracing candidate square and rectangular paths. Emphasis is also placed on conversion of computational results into physically realizable mechanism designs.
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Krivošej, Jan, and Zbyněk Šika. "Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation." Machines 9, no. 12 (December 7, 2021): 338. http://dx.doi.org/10.3390/machines9120338.
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The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure the whole system. The fulfillment of sufficient prestressing is the constraint of the optimization process. Computed Torque Control with a cable force distribution algorithm is implemented. The control algorithm performance is examined on different trajectories, including non-smooth motion requests, and its robustness is tested by randomly generated errors of the model parameters in regulators. The results demonstrate that the optimized structure is capable of controlling the manipulator motion and keeping the cable prestressing within the given limits.
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Zhang, Fengxuan, Silu Chen, Yongyi He, Guoyun Ye, Chi Zhang, and Guilin Yang. "A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator." Symmetry 12, no. 3 (March 2, 2020): 357. http://dx.doi.org/10.3390/sym12030357.
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This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.
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Chang, Li Min, Hong Qiang Sang, and Li Ping Xu. "Kinematic Analysis Based on Screw Theory of a 3-DOF Cable-Driven Surgical Instrument." Applied Mechanics and Materials 490-491 (January 2014): 375–78. http://dx.doi.org/10.4028/www.scientific.net/amm.490-491.375.
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The Forward kinematic and the inverse kinematic were analyzed of 3-DOF cable-driven surgical instrument in this paper. Kinematics of open chain surgical instrument was derived by the product of exponentials formula, and Paden and Kahan subproblems. Kinematic analysis of the 3-DOF cable-driven surgical instrument can be analyzed by the map relationship between the end effectors and the joint angles of the surgical instrument after removal of cables and pulleys and the map relationship between the rotor angular displacement of the motor and joint angular displacement. The analysis method can be useful for motion analysis and control for cable-driven robotic mechanisms.
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Cheng, H. H. "Real-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator." Journal of Dynamic Systems, Measurement, and Control 116, no. 4 (December 1, 1994): 687–701. http://dx.doi.org/10.1115/1.2899268.
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The real-time implementation of path planning, trajectory generation, and servo control for manipulation of the prototype UPSarm are presented in this paper. The prototype UPSarm, which is primarily designed for studying the feasibility of loading packages inside a trailer, is a ten degree-of-freedom hybrid serial-and-parallel-driven redundant robot manipulator. The direct, forward, inverse, and indirect kinematic solutions of the UPSarm using three coordinate spaces: actuator space, effective joint space, and world Cartesian coordinate space are derived for real-time path planning, trajectory generation, and control. The manipulation of the UPSarm is based upon a general-purpose path planner and trajectory generator. Provided with appropriate kinematics modules and sufficient computational power, this path planner and trajectory generator can be used for real-time motion control of any degree-of-freedom hybrid serial-and-parallel-driven electromechanical devices. A VMEbus-based distributed computing system has been implemented for real-time motion control of the UPSarm. A PID-based feedforward servo control scheme is used in our servo controller. The motion examples of the UPSarm programmed in our robot language will show the practical manipulation of hybrid serial-and-parallel-driven redundant kinematic chains.
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Lou, Ya’nan, Haoyu Lin, Pengkun Quan, Dongbo Wei, and Shichun Di. "Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables." Electronics 10, no. 4 (February 11, 2021): 444. http://dx.doi.org/10.3390/electronics10040444.
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This paper focuses on the kinematic calibration problem for the general cable-driven serial manipulator (CDSM) with multi-segment cables to improve its motion control accuracy. Firstly, to fully describe the calibration parameters of cables, links, joint positions, and the transmission system, this paper proposes a new cable routing description method named cable-routing configuration struct (CRCS), which provides a complete set of parameters to be calibrated for the proposed self-calibration algorithm. Then, a self-calibration algorithm for CDSM with motor incremental encoders is proposed, which can calibrate the robot at one time only using sufficient measured motor and joint positions. Its premise, the initial cable length, needs to be calibrated. Finally, the parameters of a three-DOF (degree of freedom) six-cable CDSM were described using the CRCS description method, and a comparative experiment was carried out on the same motion controller using the parameters before and after calibration. The experiment results of trajectory tracking error showed that the calibration parameters obtained by the proposed calibration algorithm can significantly improve the motion control accuracy of the three-DOF six-cable CDSM. This verified the correctness and effectiveness of the proposed calibration algorithm.
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Lin, Jonqlan, Chi Ying Wu, and Julian Chang. "Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803845.
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Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.
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Eckenstein, Nick, and Mark Yim. "Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems." Journal of Mechanisms and Robotics 5, no. 4 (October 4, 2013). http://dx.doi.org/10.1115/1.4025218.
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Two new designs for gravity compensated modular robotic systems are presented and analyzed. The gravity compensation relies on using zero-free-length springs approximated by a cable and pulley system. Simple yet powerful parallel four-bar modules enable the low-profile self-contained modules with sequential gravity compensation using the spring method for motion in a vertical plane. A second module that is formed as a parallel six-bar mechanism adds a horizontal motion to the previous system that also yields a complete decoupling of position and orientation of the distal end of a serial chain. Additionally, we introduce the concept of vanishing effort where as the number of modules that comprise an articulated serial chain increases, the actuation authority required at any joint reduces. Essentially, this results in a method for distributing actuation along the length of an articulated chain. Prototypes were designed and constructed validating the analysis and accomplishing the functions of a general serial-type manipulator arm.
10
Huang, Long, Lairong Yin, Bei Liu, and Yang Yang. "Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions." Journal of Mechanical Design 143, no. 1 (July 27, 2020). http://dx.doi.org/10.1115/1.4047519.
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Abstract In a minimally invasive surgical (MIS) robot, the remote center of motion (RCM) mechanism is usually used to realize the constrained motion of the surgical instrument. In this paper, a novel design method for planar 2DOF RCM mechanisms is proposed based on closed-loop cable transmissions. The concept is to utilize several coupled cable transmissions to constrain a serial kinematic chain. Through the analysis and determination of the transmission ratios for these cable transmissions, a class of planar 2DOF RCM mechanisms without any active or passive translational joints is obtained, which provides large workspace and low collision risk for the MIS robots. One of the resulting mechanisms is designed in detail and kinematically analyzed. To evaluate the influence of the elastic cables, a new error model for the proposed RCM mechanism is established through the static analysis and cable deformation analysis. Utilizing this model, the cable-induced error distributions of the tip and the RCM point are obtained, which show that these errors are within a relatively small range. Furthermore, the prototype of the proposed mechanism is built, and the accuracy experiments are conducted.
11
Nakka, Sanjeevi, and Vineet Vashista. "Stiffness Modulation of a Cable-Driven Serial-Chain Manipulator via Cable Routing Alteration." Journal of Mechanisms and Robotics, May 18, 2022, 1–12. http://dx.doi.org/10.1115/1.4054612.
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Abstract Cable-driven serial-chain manipulators, CDSMs, are widely used from industries to human-robot interaction applications demanding diverse performance requirements. The CDSMs inherent characteristic of flexibility in altering system parameters facilitates the possibility of varying its performance as per the desired application and thus has been explored in the literature. Among the various performance measures, stiffness plays a vital role in manipulators interaction with unknown environments. Works in the literature reported varying CDSMs system parameters to tune the stiffness characteristics and highlighted the tensionable workspace's sensitivity to the changes in the system parameters. The current work demonstrates the potential of co-shared cable routing in CDSMs along with a set of design conditions to provide a broader range of stiffness characteristics for a constant tensionable workspace. The results are presented using a planar two DOFs CDSM, and the stiffness changes are validated experimentally. This outcome shows that CDSM with co-shared cable routing can render a wide range of stiffness behaviour.
12
Niyetkaliyev, A. S., E. Sariyildiz, and G. Alici. "Kinematic Modeling and Analysis of a Novel Bio-Inspired and Cable-Driven Hybrid Shoulder Mechanism." Journal of Mechanisms and Robotics 13, no. 1 (October 7, 2020). http://dx.doi.org/10.1115/1.4047984.
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Abstract The robotic shoulder rehabilitation exoskeletons that do not take into consideration all shoulder degrees-of-freedom (DOFs) lead to undesirable interaction forces and cause discomfort to the patient due to the joint axes misalignments between the exoskeleton and shoulder joints. In order to contribute to the solution of this human–robot compatibility issue, we present the kinematic modeling and analysis of a novel bio-inspired 5-DOFs hybrid human–robot mechanism (HRM). The human limbs are regarded as the inner passive restrained links in the proposed hybrid constrained anthropomorphic mechanism. The proposed hybrid mechanism combines serial and parallel manipulators with rigid and cable links enabling a match between human and exoskeleton joint axes. It is designed to cover the whole range of motion of the human shoulder with the workspace free of singularities. The numerical and simulation results from the computer-aided drawing model of the mechanism are presented to demonstrate the validity of the kinematic model, and the kinematic and singularity merits of the proposed mechanism. A three-dimensional printed prototype of the hybrid mechanism was fabricated to further validate the kinematic model and its overall advantages.
13
Huang, Tian, Shuofei Yang, Manxin Wang, Tao Sun, and Derek G. Chetwynd. "An Approach to Determining the Unknown Twist/Wrench Subspaces of Lower Mobility Serial Kinematic Chains." Journal of Mechanisms and Robotics 7, no. 3 (August 1, 2015). http://dx.doi.org/10.1115/1.4028622.
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Mainly drawing on screw theory and linear algebra, this paper presents an approach to determining the bases of three unknown twist and wrench subspaces of lower mobility serial kinematic chains, an essential step for kinematic and dynamic modeling of both serial and parallel manipulators. By taking the reciprocal product of a wrench on a twist as a linear functional, the underlying relationships among their subspaces are reviewed by means of the dual space and dual basis. Given the basis of a twist subspace of permissions, the causes of nonuniqueness in the bases of the other three subspaces are discussed in some depth. Driven by needs from engineering design, criteria, and a procedure are proposed that enable pragmatic, consistent bases of these subspaces to be determined in a meaningful, visualizable, and effective manner. Three typical examples are given to illustrate the entire process. Then, formulas are presented for the bases of the twist/wrench subspaces of a number of commonly used serial kinematic chains, which can readily be employed for the formulation of the generalized Jacobian of a variety of lower mobility parallel manipulators.
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Anson, Michael, Aliakbar Alamdari, and Venkat Krovi. "Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility." Journal of Mechanisms and Robotics 9, no. 3 (March 23, 2017). http://dx.doi.org/10.1115/1.4035988.
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Cable-driven parallel manipulators (CDPM) potentially offer many advantages over serial manipulators, including greater structural rigidity, greater accuracy, and higher payload-to-weight ratios. However, CDPMs possess limited moment resisting/exerting capabilities and relatively small orientation workspaces. Various methods have been contemplated for overcoming these limitations, each with its own advantages and disadvantages. The focus of this paper is on one such method: the addition of base mobility to the system. Such base mobility gives rise to kinematic redundancy, which needs to be resolved carefully in order to control the system. However, this redundancy can also be exploited in order to optimize some secondary criteria, e.g., maximizing the size and quality of the wrench-closure workspace with the addition of base mobility. In this work, the quality of the wrench-closure workspace is examined using a tension-factor index. Two planar mobile base configurations are investigated, and their results are compared with a traditional fixed-base system. In the rectangular configuration, each base is constrained to move along its own linear rail, with each rail forming right angles with the two adjacent rails. In the circular configuration, the bases are constrained to move along one circular rail. While a rectangular configuration enhances the size and quality of the orientation workspace in a particular rotational direction, the circular configuration allows for the platform to obtain any position and orientation within the boundary of the base circle. Furthermore, if the bases are configured in such a way that the cables are fully symmetric with respect to the platform, a maximum possible tension-factor of one is guaranteed. This fully symmetric configuration is shown to offer a variety of additional advantages: it eliminates the need to perform computationally expensive nonlinear optimization by providing a closed-form solution to the inverse kinematics problem, and it results in a convergence between kinematic singularities and wrench-closure singularities of the system. Finally, we discuss a particular limitation of this fully symmetric configuration: the inability of the cables to obtain an even tension distribution in a loaded configuration. For this reason, it may be useful to relax the fully symmetric cable requirement in order to yield reasonable tensions of equal magnitude.
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Bahrami, Vahid, Ahmad Kalhor, and Mehdi Tale Masouleh. "Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, July 1, 2021, 095440622110279. http://dx.doi.org/10.1177/09544062211027922.
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This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.
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Liu, Yujiong, and Pinhas Ben-Tzvi. "Design, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism." Journal of Mechanisms and Robotics 12, no. 2 (January 10, 2020). http://dx.doi.org/10.1115/1.4045842.
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Abstract Based on observations from nature, tails are believed to help animals achieve highly agile motions. Traditional single-link robotic tails serve as a good simplification for both modeling and implementation purposes. However, this approach cannot explain the complicated tail behaviors exhibited in nature where multi-link structures are more commonly observed. Unlike its single-link counterpart, articulated multi-link tails essentially belong to the serial manipulator family which possesses special motion transmission design challenges. To address this challenge, a cable-driven hyper-redundant design becomes the most used approach. Limited by cable strength and elastic components, this approach suffers from low-frequency response, inadequate generated inertial loading, and fragile hardware, which are all critical drawbacks for robotic tails design. To solve these structure-related shortcomings, a multi-link robotic tail made up of rigid links is proposed in this paper. The new structure takes advantage of the traditional hybrid mechanism architecture, but utilizes rigid mechanisms to couple the motions between the ith link and the (i + 1)th link rather than using cable actuation. By doing so, the overall tail becomes a rigid mechanism that achieves quasi-uniform spatial bending for each segment and allows performing highly dynamic motions. The mechanism and detailed design of this new robotic tail are presented. The kinematic model was developed and an optimization process was conducted to reduce the bending non-uniformity for the rigid tail. Based on this special optimization design, the dynamic model of the new mechanism is significantly simplified. A small-scale three-segment prototype was integrated to verify the proposed mechanism's unique mobility.