Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

Tahir Rasheed (1, 2) , Philip Long (3, 4) , David Marquez-Gamez (3) , Stéphane Caro (5)

1 ECN - École Centrale de Nantes
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 IRT Jules Verne - Institut de Recherche Technologique Jules Verne [Bouguenais]
4 Northeastern University [Boston]
5 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCD-PRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro. Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots. The ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. ⟨10.1115/DETC2018-86182⟩. ⟨hal-01863727⟩