Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment

Tahir Rasheed (1, 2, 3) , Philip Long (4, 5) , David Marquez-Gamez (6) , Stéphane Caro (2, 7, 1)

1 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 ECN - École Centrale de Nantes
4 Irish Manufacturing Research
5 Northeastern University [Boston]
6 University of Liverpool
7 CNRS - Centre National de la Recherche Scientifique

A Mobile Cable-Driven Parallel Robot (MCDPR) is a special type of Reconfigurable Cable-Driven Parallel Robot (RCDPR) composed of a classical Cable-Driven Parallel Robot (CDPR) mounted on multiple mobile bases. The additional mobility of the mobile bases allows such systems to autonomously modify their geometric architecture, and thus make them suitable for multiple manipulative tasks in constrained environments. Moreover, these additional mo-bilities make MCDPRs kinematically redundant. Therefore, the subject of this paper is to introduce a two stage path planning algorithm for MCDPRs. The first stage searches for a feasible and collision free path of mobile bases. The second stage deals with generating an optimal path of the moving-platform to displace it from an initial to a desired pose. The proposed algorithm is validated through simulation on a three degree-of-freedom (DoF) point mass moving-platform displaced by four cables with each cable carried by an independent mobile base.

Mots clés: Mobile Cable-Driven Parallel Robot; Reconfigurability; Kinematic Redundancy; Path Planning; Wrench Analysis

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

Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro. Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment. In: Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham, pp.257-268, 2019, ⟨10.1007/978-3-030-20751-9_22⟩. ⟨hal-02404441⟩