On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis

2017 ◽  
pp. 390-401 ◽  
Author(s):  
Alexis Fortin-Côté ◽  
Céline Faure ◽  
Laurent Bouyer ◽  
Bradford J. McFadyen ◽  
Catherine Mercier ◽  
...  
Keyword(s):  
Parallel Robot ◽  
Large Rotation

scholarly journals A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

2019 ◽  
Author(s):  
Saman Lessanibahri ◽  
Philippe Cardou ◽  
Stéphane Caro
Keyword(s):  
Optimum Design ◽  
Parallel Robot ◽  
Visual Surveillance ◽  
Degree Of Freedom ◽  
Large Rotation ◽  
Fixed Frame ◽  
Workspace Analysis ◽  
Dynamic Performances ◽  
Moving Platform ◽  
Tomography Scanning

Abstract This paper addresses the optimum design, configuration and workspace analysis of a Cable-Driven Parallel Robot with an embedded tilt-roll wrist. The manipulator is a hybrid robot consisting in an under-constrained moving-platform accommodating a tilt-roll wrist. The embedded wrist provides large amplitudes of tilt and roll rotations and a large translational workspace obtained by the moving-platform. This manipulator is suitable for tasks requiring large rotation and translation workspaces like tomography scanning, camera-orienting devices and visual surveillance. The moving-platform is an eight-degree-of-freedom articulated mechanism with large translational and rotational workspaces and it is suspended from a fixed frame by six cables. The manipulator employs two bi-actuated cables, i.e., cable loops to transmit the power from motors fixed on the ground to the tilt-roll wrist. Therefore, the manipulator achieves better dynamic performances due to a lower inertia of its moving-platform.

scholarly journals A Cable-Driven Parallel Robot With An Embedded Tilt-Roll Wrist

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Saman Lessanibahri ◽  
Philippe Cardou ◽  
Stéphane Caro
Keyword(s):  
Optimum Design ◽  
Parallel Robot ◽  
Visual Surveillance ◽  
Degree Of Freedom ◽  
Large Rotation ◽  
Fixed Frame ◽  
Workspace Analysis ◽  
Dynamic Performances ◽  
Moving Platform ◽  
Tomography Scanning

Abstract This paper addresses the optimum design, configuration, and workspace analysis of a cable-driven parallel robot (CDPR) with an embedded tilt-roll wrist. The manipulator consists in a tilt-roll wrist mounted on the moving platform of a suspended CDPR. The embedded wrist provides large amplitudes of tilt and roll rotations and a large translational workspace obtained by the CDPR. This manipulator is suitable for tasks requiring large rotation and translation workspaces such as tomography scanning, camera-orienting devices, and visual surveillance. The moving-platform is an eight-degree-of-freedom articulated mechanism with large translational and rotational workspaces, and it is suspended from a fixed frame by six cables. The manipulator employs two bi-actuated cables, i.e., cable-loops to transmit the power from motors fixed on the ground to the tilt-roll wrist. Therefore, the manipulator achieves better dynamic performances due to a lower inertia of its moving-platform.

Growth of spinel into alumina

1987 ◽  
Vol 45 ◽  
pp. 294-295
Author(s):  
Y. Kouh Simpson ◽  
C. B. Carter
Keyword(s):  
Misfit Dislocations ◽  
Phase Boundaries ◽  
Large Rotation ◽  
Alumina Phase ◽  
Metallic Interfaces ◽  
Small Rotation

The structure of spinel/alumina phase boundaries has recently been studied using the selected- area diffraction technique. It has been found that there exist several dominant topotactic relationships; of these, the two most common situations are when the {111} plane of spinel is parallel to either the (0001) plane or the {1120} plane of alumina. In both of these cases, it has been found that there is often a small rotation from exact topotaxy (typically 0° to 2° but with larger rotations possible) which partially eliminates the need for misfit dislocations. This rotation is a special phenomenon that may be unique to non-metallic interfaces such as phase boundaries in ceramics. In this report, a special spinel/alumina interface in which a large rotation from the exact topotaxy exists between the (111) plane of spinel and the (OOOl) plane of alumina is discussed.

scholarly journals Sensitivity Based Selection of an Optimal Cable-Driven Parallel Robot Design for Rehabilitation Purposes

Robotics ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 7
Author(s):  
Ferdaws Ennaiem ◽  
Abdelbadiâ Chaker ◽  
Juan Sebastián Sandoval Arévalo ◽  
Med Amine Laribi ◽  
Sami Bennour ◽  
...  
Keyword(s):  
Pareto Front ◽  
Parallel Robot ◽  
Elastic Stiffness ◽  
Upper Limb Rehabilitation ◽  
Daily Life Activities ◽  
System A ◽  
The Monte Carlo Method ◽  
Genetic Algorithm Method ◽  
Limb Rehabilitation ◽  
Selection Of

This paper deals with the design of an optimal cable-driven parallel robot (CDPR) for upper limb rehabilitation. The robot’s prescribed workspace is identified with the help of an occupational therapist based on three selected daily life activities, which are tracked using a Qualisys motion capture system. A preliminary architecture of the robot is proposed based on the analysis of the tracked trajectories of all the activities. A multi-objective optimization process using the genetic algorithm method is then performed, where the cable tensions and the robot size are selected as the objective functions to be minimized. The cables tensions are bounded between two limits, where the lower limit ensures a positive tension in the cables at all times and the upper limit represents the maximum torque of the motor. A sensitivity analysis is then performed using the Monte Carlo method to yield the optimal design selected out of the non-dominated solutions, forming the obtained Pareto front. The robot with the highest robustness toward the disturbances is identified, and its dexterity and elastic stiffness are calculated to investigate its performance.

scholarly journals Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

2021 ◽  
Vol 54 (3-4) ◽  
pp. 303-323
Author(s):  
Amjad J Humaidi ◽  
Huda T Najem ◽  
Ayad Q Al-Dujaili ◽  
Daniel A Pereira ◽  
Ibraheem Kasim Ibraheem ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Fuzzy Logic Controller ◽  
Optimization Technique ◽  
Parallel Robot ◽  
Design Parameters ◽  
Social Spider ◽  
Social Spider Optimization ◽  
Interval Type

This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

scholarly journals Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 215235-215245
Author(s):  
Yuqi Wang ◽  
Qi Lin ◽  
Jiacai Huang ◽  
Lei Zhou ◽  
Jinjiang Cao ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Parallel Robot
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