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RESEARCH PAPERS

Dynamic Performance Limitations Due to Yielding in Cable-Driven Robotic Manipulators

[+] Author and Article Information
Xiaolei Yin

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556-0539xyin@nd.edu

Alan P. Bowling

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556-0539abowling@nd.edu

J. Mech. Des 128(1), 311-318 (Jun 20, 2005) (8 pages) doi:10.1115/1.2121748 History: Received August 24, 2004; Revised June 09, 2005; Accepted June 20, 2005

This paper presents a method for characterizing the performance limitations imposed by the yielding of the cables in systems with cable-driven transmissions. The method involves developing a rigid-body model of the system, where the cable tensions are considered as reaction forces. The kinematic coupling between links in the mechanism due to the use of cables is also considered. Here, the limitations on dynamic performance caused by cable yielding are added to the limitations caused by the bounds on actuator torque capacity, in order to give a more comprehensive description of the system’s capabilities. A two degrees-of-freedom planar mechanism is analyzed in order to illustrate the methodology.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Two-DOF cable driven system

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Figure 2

Schematic of cable-driven robot in Fig. 1

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Figure 3

Tensions in cable

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Figure 4

Cable tension-deformation behavior

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Figure 5

Two-DOF planar cable-driven robotic model

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Figure 6

Dynamic capability curves for Table 2. Curves associated with actuator bounds are shown as solid lines and those associated with tension bounds are shown as dashed and dotted lines.

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Figure 7

Worst-case motion directions for Fig. 6

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Figure 8

Dynamic capability curve for Table 3. Curves as- sociated with actuator bounds are shown as solid lines and those associated with tension bounds are shown as dashed and dotted lines.

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Figure 9

Worst-case motion directions for Fig. 8

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