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

Abstract : 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.
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Communication dans un congrès
The ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. 2018
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https://hal.archives-ouvertes.fr/hal-01863727
Contributeur : Stéphane Caro <>
Soumis le : mercredi 29 août 2018 - 03:55:01
Dernière modification le : jeudi 6 septembre 2018 - 08:43:43

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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. 2018. 〈hal-01863727〉

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