A Parallel Cable-Driven Crane for Scara-Motions
A Parallel Cable-Driven Crane for Scara-Motions
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DOI：
10.1115/detc2008-49969
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
S. Krut;N. Ramdani;M. Gouttefarde;F. Pierrot
中科院分区：
文献类型：
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作者：
S. Krut;N. Ramdani;M. Gouttefarde;F. Pierrot
介绍了一种能产生三平移一绕垂直轴转动的少自由度并联起重机。起重机是一种欠约束的缆索机器人：它需要重力作用在移动板上以张紧缆索。所提出的起重机可以在一定程度上抵抗在6维任务空间的所有方向上的外力和扭矩。这一特征是由于使用了连接致动器和移动板的成对电缆。建议的起重机是来自I4并联机器人。因此，其移动板是铰接的，这提供了广泛的定向范围。它是超静定的，在这个意义上，八个电缆之一可以被删除，同时保持相同的运动学关系。然而，出于对称性原因，保留了所有八条电缆（在电缆故障的情况下，此功能很有趣）。推导了控制所需的输入/输出几何和运动学模型。然后，获得缆索张力，从而能够确定静态工作空间，该静态工作空间定义为缆索在重力作用下保持拉紧的可达空间域。
This paper introduces a lower mobility parallel kinematic crane able to generate Scara motions (three translations and one rotation about a vertical axis). A crane is an underconstrained cable robot: it requires gravity acting on the traveling plate in order to tense the cables. The proposed crane can resist, to a certain extent, against outside forces and torques in all directions of the 6-dimensional task space. This feature results from the use of pairs of cables linking the actuators and the traveling plate. The proposed crane is derived from the I4 parallel robot. Thus, its traveling plate is articulated which provides a wide range of orientation. It is hyperstatic in the sense that one of the eight cables can be removed while keeping the same kinematic relationships. However, for symmetry reasons all the eight cables are kept (this feature is interesting in case of a cable breakdown). The input/output geometrical and kinematic models required for control are derived. Then, the cables tensions are obtained enabling the determination of the static workspace defined as the domain of reachable space where the cables remain taut under the action of gravity.Copyright © 2008 by ASME