Collaborative Mobile Cable-Driven Parallel Robots
Collaborative Mobile Cable-Driven Parallel Robots
复制标题
协作移动电缆驱动并联机器人
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Tahir Rasheed
中科院分区：
文献类型：
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作者：
Tahir Rasheed
本文提出了一种新的机器人系统--移动的缆索驱动并联机器人（MCDPRs）. MCDPR由一个安装在多个移动的基座上的典型的可拆卸式机器人（CDPR）组成. MCDPRs结合了移动的机器人的自主性和CDPRs的优点，即大工作空间、高有效载荷重量比、低末端执行器惯性、可展开性和可重构性。此外，MCDPRs提出了一项新的技术创新，有助于为现有的工业机器人解决方案带来更多的灵活性和多功能性。在此期间，开发了两个名为FASTKIT和MoPICK的MCDPR原型。FASTKIT由两个移动的底座组成，携带一个六自由度的移动平台，由八根电缆牵引，目标是为物流提供低成本和多功能的机器人解决方案。MoPICK是由一个三自由度的运动平台组成，平台由四根安装在四个移动的底座上的绳索牵引. MoPICK的目标应用是受限环境中的移动的任务，例如，车间或仓库中的物流操作。本文的主要贡献如下.首先，研究了实现MCDPR静平衡所需的所有必要条件。这些条件被用来开发一个张力分配算法的真实的时间控制的MCDRP电缆。并利用平衡条件研究了MCDPR的扳手可行工作空间.然后，对MCDPR的运动性能和扭转能力进行了研究。最后，论文的最后一部分提出了多路径规划策略，以重新配置CDPR的几何结构，以执行所需的任务。
This thesis presents a novel concept of Mobile Cable - Driven Parallel Robots (MCDPRs) as a new robotic system. MCDPR is composed of a classical C able - D riven P a rallel R obot (CDPR) mounted on multiple mobile bases. MCDPRs combines the autonomy of mobile robots with the advantages of CDPRs, namely, large workspace, high payload - to - weight ratio, low end - effector inertia, deployability and reconfigurability. Moreover , MCDPRs presents a new technical innovation that could help to bring more flexibility and versatility with respect to existing industrial robotic solutions. Two MCDPRs prototypes named FASTKIT and MoPICK have been developed during the course of this the sis. FASTKIT is composed of two mobile bases carrying a six degrees - of - freedom moving - platform, pulled by eight cables , with a goal to provide a low cost and versatile robotic solution for logistics. MoPICK is composed of a three degrees - of - freedom movi ng - platform pulled by four cables mounted on four mobile bases. The targeted applications of MoPICK are mobile tasks in a constrained environment, for example, a workshop or logistic operations in a warehouse. The contributions of this thesis are as follow s. Firstly, all the necessary conditions are studied that required to achieve the static equilibrium of a MCDPR . These conditions are used to develop a Tension Distribution Algorithm for the real time control of the MCDRP cables. The equilibrium conditions are also used to investigate the Wrench - Feasible - Workspace of MCDPRs. Afterwards, the kinematic performance and twist capabilities of the MCDPRs are investigated. Finally, the last part of the thesis presents multiple path planning strategies for MCDPRs i n order to reconfigure the CDPR’s geometric architecture for performing the desired task.