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 (3)

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

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: Interference; Cable-driven robot; Wire-driven robot; Wrench-feasible workspace; Static equilibrium; Graphical user interface; Workspace; Capacity margin

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. Cable-Driven Parallel Robots, Mechanisms and Machine Science, 32, Springer, pp.293-305, 2015, Mechanisms and Machine Science, ⟨10.1007/978-3-319-09489-2_21⟩. ⟨hal-01941785⟩