ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software

Ana Lucia Cruz Ruiz (1) , Stéphane Caro (2) , Philippe Cardou (3) , François Guay (4)

1 ECN - École Centrale de Nantes
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 ULaval - Université Laval [Québec]
4 Laboratoire de robotique

This paper presents ARACHNIS, a graphical user interface for the analysis and parametric design of Cable Driven Parallel Robots (CDPRs). ARACHNIS takes as inputs the design parameters of the robot, the task specifications, and returns a visualisation of the CDPR Wrench Feasible Workspace (WFW) and Interference-Free Constant Orientation Workspace (IFCOW). The WFW is traced from the capacity margin, a measure of the robustness of the equilibrium of the robot. Interferences between the moving parts of a CDPR are also determined by an existing technique for tracing the interference-free workspace of such robots. Finally, the WFW and the IFCOW of a planar cable-driven parallel robot and of a spatial cable-driven parallel robot are plotted in order to demonstrate the potential of ARACHNIS.

Mots clés: workspace; wrench-feasible workspace; interference; graphical user interface; capacity margin; static equilibrium; cable-driven robot; wire-driven robot

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

Ana Lucia Cruz Ruiz, Stéphane Caro, Philippe Cardou, François Guay. ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software. The Second International Conference on Cable-Driven Parallel Robots (CableCon 2014), Aug 2014, Duisburg, Germany. ⟨hal-01941633⟩