Research Papers: Design of Mechanisms and Robotic Systems

Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

[+] Author and Article Information
Darwin Lau

Department of Mechanical and
Automation Engineering,
The Chinese University of Hong Kong,
Hong Kong
e-mail: darwinlau@mae.cuhk.edu.hk

Denny Oetomo

Department of Mechanical Engineering,
The University of Melbourne,
Victoria 3010, Australia
e-mail: doetomo@unimelb.edu.au

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received June 19, 2015; final manuscript received November 2, 2015; published online January 27, 2016. Assoc. Editor: Oscar Altuzarra.

J. Mech. Des 138(3), 032303 (Jan 27, 2016) (7 pages) Paper No: MD-15-1432; doi: 10.1115/1.4032402 History: Received June 19, 2015; Revised November 02, 2015

Wrench-closure is an important property of cable-driven parallel manipulators (CDPMs), representing the ability to generate wrench in any direction by positive cable forces. For single link CDPMs, it is well known that m ≥ n + 1 cables are necessary for an n degrees-of-freedom CDPM to achieve wrench-closure. However, for multilink cable-driven manipulators (MCDMs), this condition is too relaxed and the cable routing should also be considered. In this paper, necessary conditions to achieve wrench-closure for MCDMs are mathematically derived based on the cable routing arrangements. Since the approach is independent on the exact attachment locations, the proposed necessary conditions can be efficiently validated during the design and synthesis of MCDMs. Analysis is performed on a range of different MCDM structures to identify cable arrangements that do not satisfy wrench-closure for an MCDM.

Copyright © 2016 by ASME
Topics: Cables , Manipulators
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Grahic Jump Location
Fig. 1

Examples of cable arrangement for the two link SR MCDM that do not satisfy WCV. (a) and (b) are examples where link 2 and link 1 do not satisfy the WCC, respectively. (a) Example 1: m2*=1≱2 and (b) Example 2: m1*=3≱4.

Grahic Jump Location
Fig. 2

Cable arrangement for the two link SR MCDM that satisfy the necessary conditions of WCV. (a) Example 3: valid and (b) Example 4: invalid due to cable attachments.

Grahic Jump Location
Fig. 3

Examples of cable arrangement for the three link 3R MCDM. (a) and (b) are examples where link 3 and link 2 do not satisfy the WCC, respectively. (c) An example of a valid arrangement. (a) Example 1: m3*≱2, (b) Example 2: m2*≱2, and (c) Example 3: valid.




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