A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 111
Author(s):  
Marco Carpio ◽  
Roque Saltaren ◽  
Julio Viola ◽  
Cecilia García ◽  
Juan Guerra ◽  
...  
Keyword(s):  
Position Control ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Pid Controllers ◽  
End Effector ◽  
Movement Trajectories ◽  
Contagious Diseases ◽  
Ultraviolet C ◽  
Design Proposal ◽  
Health Care Centers

Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. Considering that one of the ways to reduce the risk of contagion is by avoiding contact and closeness between people when exchanging supplies such as food, medicine, clothing, etc., this work proposes the use of a planar cable-driven parallel robot for the transport of supplies in hospitals whose room distribution has planar architecture. The robot acts in accordance with a procedure proposed for each task to be carried out, which includes the process of disinfection (based on Ultraviolet-C light) of the supplies transported inside the robot’s end effector. The study presents a design proposal for the geometry of the planar cable-driven parallel robots and its end effector, as well as the software simulations that allow evaluating the robot’s movement trajectories and the responses of the position control system based on Fuzzy-PID controllers.

scholarly journals Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 745
Author(s):  
Marco Carpio ◽  
Roque Saltaren ◽  
Julio Viola ◽  
Cristian Calderon ◽  
Juan Guerra
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Parallel Robot ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
End Effector ◽  
Robot Systems ◽  
Decoupled Control ◽  
The Mathematical Model ◽  
Decoupled Structure

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

Simultaneous base and tool calibration for self-calibrated parallel robots

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 367-374 ◽  
Author(s):  
Guilin Yang ◽  
I-Ming Chen ◽  
Song Huat Yeo ◽  
Wee Kiat Lim
Keyword(s):  
Parallel Robot ◽  
Parallel Robots ◽  
Sufficient Accuracy ◽  
Least Square ◽  
Mobile Platform ◽  
Calibration Model ◽  
End Effector ◽  
The World ◽  
Kinematic Transformation ◽  
Kinematic Errors

In this paper, we focus on the base and tool calibration of a self-calibrated parallel robot. After the self-calibration of a parellel robot by using the built-in sensors in the passive joints, its kinematic transformation from the robot base to the mobile platform frame can be computed with sufficient accuracy. The base and tool calibration, hence, is to identify the kinematic errors in the fixed transformations from the world frame to the robot base frame and from the mobile platform frame to the tool (end-effector) frame in order to improve the absolute positioning accuracy of the robot. Using the mathematical tools from group theory and differential geometry, a simultaneous base and tool calibration model is formulated. Since the kinematic errors in a kinematic transformation can be represented by a twist, i.e. an element of se(3), the resultant calibration model is simple, explicit and geometrically meaningful. A least-square algorithm is employed to iteratively identify the error parameters. The simulation example shows that all the preset kinematic errors can be fully recovered within three to four iterations.

Stiffness estimation of a parallel manipulator using image analysis and camera calibration techniques

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 657-667 ◽  
Author(s):  
Abraham Gonzalez-Hernandez ◽  
Eduardo Castillo-Castaneda
Keyword(s):  
Image Analysis ◽  
Camera Calibration ◽  
Parallel Manipulator ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Mobile Platform ◽  
End Effector ◽  
Simple Implementation ◽  
Specific Position ◽  
Calibration Techniques

SUMMARYThis work presents a methodology using image analysis to estimate the experimental stiffness of a parallel robot, Parallix LKF-2040, a 3-degree-of-freedom manipulator. The proposed methodology has a simple implementation and can be applied to different architectures of parallel robots. This methodology uses image analysis and camera calibration techniques to estimate compliant displacements of mobile platform produced by several loads at the end effector level, and calculate stiffness in a specific position of mobile platform. Experimental results are presented for different positions within the workspace.

Workspace Analysis of Cable-Driven Parallel Robot With Coulomb Friction Under Ultra-High-Acceleration

2016 ◽  
Author(s):  
Jun-Mu Heo ◽  
Sung-hyun Choi ◽  
Kyoung-Su Park
Keyword(s):  
Coulomb Friction ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
High Acceleration ◽  
Workspace Analysis

Cable driven parallel robots (CDPRs) are a class of parallel robots in which the rigid links are replaced by cables. It consists of a moving end-effector and a number of active cables connected to the end-effector.

scholarly journals Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis

Sensors ◽  
2019 ◽  
Vol 19 (15) ◽  
pp. 3403 ◽  
Author(s):  
Rodriguez-Barroso ◽  
Saltaren ◽  
Portilla ◽  
Cely ◽  
Yakrangi
Keyword(s):  
Energy Distribution ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Potential Energy Distribution ◽  
End Effector ◽  
Tension Distribution ◽  
Multibody Dynamic ◽  
Compliant Actuators ◽  
Dynamic Software ◽  
The Relationship

Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators’ energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software.

DeltaBot: A New Cable-Based Ultra High Speed Robot

2003 ◽  
Author(s):  
Saeed Behzadipour ◽  
Robert Dekker ◽  
Amir Khajepour ◽  
Edmon Chan
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Manufacturing Industry ◽  
Design Procedure ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Manufacturing Cost ◽  
End Effector ◽  
Serial Manipulators

The growing needs for high speed positioning devices in the automated manufacturing industry have been challenged by robotic science for more than two decades. Parallel manipulators have been widely used for this purpose due to their advantage of lower moving inertia over the conventional serial manipulators. Cable actuated parallel robots were introduced in 1980’s to reduce the moving inertia even further. In this work, a new cable-based parallel robot is introduced. For this robot, the cables are used not only to actuate the end-effector but also to apply the necessary kinematic constraints to provide three pure translational degrees of freedom. In order to maintain tension in the cables, a passive air cylinder is used to push the end-effector against the stationary platform. In addition to low moving inertia, the new design benefits from simplicity and low manufacturing cost by eliminating joints from the robot’s mechanism. The design procedure and the results of experiments will be discussed in the following.

The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling

1999 ◽  
Author(s):  
Luc H. Rolland
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Chain ◽  
Parallel Robot ◽  
Chain Structure ◽  
Parallel Robots ◽  
Parallel Mechanisms ◽  
End Effector ◽  
Low Mass ◽  
Loading And Unloading ◽  
Very High

Abstract Two novel 4-DOF very fast parallel robots were designed. This paper introduces the new parallel mechanism designs which are named the Manta and the Kanuk. In order to reduce manipulator overall costs, the actuator and encoder numbers are minimized to the exact effective degrees-of-freedoms (DOF) which is usually not the case in most parallel robot designs. The robots allow end-effector displacements along the three Cartesian translations and one platform transversal rotation. The two remaining rotations are blocked by the intrinsic mechanical structure including the rotation along the platform normal which is always limited in range. The main advantages are high stiffness through the multiple kinematic chain structure which allow for low mass designs. Moreover, they feature simple mechanical construction. Thus, it shall be possible to achieve very high throughput since high accelerations are feasible. To circumvent the known workspace limitations, the actuators were selected to be prismatic along linear axes. The applications are automated warehouse manipulation, mediatheque manipulation, machine tool tool changers, loading and unloading.

Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot

2011 ◽  
Vol 138-139 ◽  
pp. 68-73 ◽  
Author(s):  
Ke Yi Wang ◽  
Fang Chao Ma ◽  
Meng Hao ◽  
Li Xun Zhang ◽  
Pan Liu
Keyword(s):  
Position Control ◽  
Parallel Robot ◽  
Force Balance ◽  
Robot System ◽  
End Effector ◽  
Wire Tension ◽  
Parallel Control ◽  
The Wire ◽  
And Control ◽  
Force Balance Equation

During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate and control the trainer pelvis movement. Based on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy was proposed that the position loop would realize the end-effector motion trajectory, and the force loop would control the wire tension. The experimental results have shown that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of the robot system by adjusting the wire tension.

scholarly journals Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

Sensors ◽  
2018 ◽  
Vol 18 (7) ◽  
pp. 2392 ◽  
Author(s):  
XueJun Jin ◽  
Jinwoo Jung ◽  
Seong Ko ◽  
Eunpyo Choi ◽  
Jong-Oh Park ◽  
...  
Keyword(s):  
Position Control ◽  
Uncertainty Modeling ◽  
Parallel Robot ◽  
Parallel Robots ◽  
The Body ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
Body Frame ◽  
Geometric Uncertainty ◽  
Calibration Methods

A cable-driven parallel robot has benefits of wide workspace, high payload, and high dynamic response owing to its light cable actuator utilization. For wide workspace applications, in particular, the body frame becomes large to cover the wide workspace that causes robot kinematic errors resulting from geometric uncertainty. However, appropriate sensors as well as inexpensive and easy calibration methods to measure the actual robot kinematic parameters are not currently available. Hence, we present a calibration sensor device and an auto-calibration methodology for the over-constrained cable-driven parallel robots using one-dimension laser distance sensors attached to the robot end-effector, to overcome the robot geometric uncertainty and to implement precise robot control. A novel calibration workflow with five phases—preparation, modeling, measuring, identification, and adjustment—is proposed. The proposed calibration algorithms cover the cable-driven parallel robot kinematics, as well as uncertainty modeling such as cable elongation and pulley kinematics. We performed extensive simulations and experiments to verify the performance of the suggested method using the MINI cable robot. The experimental results show that the kinematic parameters can be identified correctly with 0.92 mm accuracy, and the robot position control accuracy is increased by 58%. Finally, we verified that the developed calibration sensor devices and the calibration methodology are applicable to the massive-size cable-driven parallel robot system.

Workspace and Singularity Characteristics of 3-DOF Planar Parallel Robots

2009 ◽  
Author(s):  
Ming Huang
Keyword(s):  
Computer Simulations ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Geometric Parameters ◽  
Kinematic Structure ◽  
Link Length ◽  
End Effector ◽  
Serial Chain ◽  
Parametric Studies ◽  
Position And Orientation

A study of workspace and singularity characteristics is presented for two common types of 3-DOF planar parallel robot manipulators. The robots considered feature a kinematic structure with 3 in-parallel actuated, R-R-R and R-P-R serial chain geometries. In this study, computer simulations aided with graphic visualization were used to characterize the complete pose workspace (for ranges of both position and orientation) and the singularity inherent to the systems. Parametric studies have also been performed to ascertain the way in which both characteristics vary with respect to various geometric parameters such as pivot location, link length, and platform size for end-effector. Results are shown by way of a unique composite ratio of the available workspace to the density of singularity within that workspace.

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