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Research Papers: Mechanisms and Robotics

Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface

[+] Author and Article Information
Simon Perreault

Département de Génie Mécanique, Université Laval, Québec, QC, G1K 7P4, Canadasimon.perreault.2@ulaval.ca

Clément M. Gosselin1

Département de Génie Mécanique, Université Laval, Québec, QC, G1K 7P4, Canadagosselin@gmc.ulaval.ca

1

Corresponding author.

J. Mech. Des 130(10), 102301 (Aug 21, 2008) (8 pages) doi:10.1115/1.2965607 History: Received June 20, 2007; Revised May 29, 2008; Published August 21, 2008

Over the past decade, cable-driven parallel mechanisms have been used for several purposes. In this paper, a novel application is proposed, namely, using two 6DOF cable-driven parallel mechanisms sharing a common workspace to obtain the mechanical base for the design of a locomotion interface. The methodology used to develop the architecture of the mechanisms is presented, and the two main criteria used to optimize the geometry are described. These criteria are based on the wrench-closure workspace and a detection of the mechanical interferences between all the entities of the locomotion interface (cables and moving bodies). Then, the final design is described and its performances are given. Finally, in order to validate the relevance of the mechanism for the locomotion interface’s design, tensile forces in the cables are computed to observe the maximal values reached during a typical human gait trajectory.

Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Prescribed workspace

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Figure 2

Schematic of the basic concept

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Figure 3

Kinematic modeling

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Figure 4

Interference detection between two cables

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Figure 5

Example of an optimization using the sequential algorithm

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Figure 6

Optimization method flowchart

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Figure 7

Front view of the complete system

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Figure 8

Identification of cables: top view of the walking platforms

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Figure 9

Computer aided design (CAD) model of the complete system

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Figure 10

Side view of the CAD model of the complete system

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Figure 11

Complement of the WCW for the proposed architecture

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Figure 12

Complement of the GCW for the proposed architecture

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Figure 13

Passive revolute joint on platform

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Figure 14

Combinations of ranges of rotation allowing to avoid all the mechanical contacts during trajectory T4

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Figure 15

CWCW as a function of the range of rotation of ϕ for several ranges of ψ(θ=±45deg)

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Figure 16

CGCW as a function of the range of rotation of ϕ for several ranges of ψ(θ=±45deg)

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Figure 17

Cartesian forces applied on the right platform during a human gait trajectory

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Figure 18

Cable forces computed during a human gait trajectory

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