Session: MR-01-01 - Mechanisms Synthesis & Analysis

Paper Number: 89384

89384 - Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator 

Cable-Driven Parallel Robots (CDPRs) use cables to move a moving-platform in space offering different advantages, such as high payload, reconfigurability, large translational workspace and high dynamic performances. However, their orientational workspace is usually limited due to cable/cable and cable/moving-platform collisions. In this paper, a novel Schoenfiles-Motion Generator (SMG) with a large translational workspace and a full rotation of its end-effector about a vertical axis is introduced. The full rotation of the end-effector is obtained using a parallelogram cable loop. It should be noted that the four degrees of freedom motion of the end-effector is controlled by four actuators fixed to the ground thanks to three parallelogram cable loops and a transmission system containing a differential mechanism.  The robot proposed in this paper features four motors and four degrees of freedom, namely, three translational motions and one rotational motion around a vertical axis. The full circle rotational motion of the end-effector is obtained by coupling a cable-loop and a pulley on the Moving-Platform (MP). The peculiarity of this robot is the arrangements of the cables around the MP. Indeed, the six cables of the proposed Cable-Driven Schoenflies Motion Generator (CDSMG) are arranged in such a way that three parallelograms cable structures are formed to constrain the rotational motions of the MP. One of the six cables is wound on two drums at its two ends, making one cable loop used to actuate the rotational motion of the pulley embedded in the MP. A novel transmission system containing a differential mechanism is synthesized to control with two actuators, mounted on the ground, the lengths of the two cables and the circulation of the cable-loop so that the parallelogram cable-loop is kept and the full circle rotational motion of the embedded pulley, namely, the end-effector, is ensured. The kinetostatic model of the CDPR under design is expressed. The static workspace of the proposed CDSMG with three different cable arrangements is analyzed. Finally, a prototype of the CDSMG is presented and preliminary experimental results are discussed.

Presenting Author: Stephane Caro CNRS - LS2N

Presenting Author Biography: St&#233;phane Caro works as Director of Research at the National Centre for Scientific Research (CNRS) and in the Laboratory of Digital Sciences of Nantes (LS2N), UMR CNRS 6004, France. Dr. Caro received his Engineering and M.Sc. degrees in mechanical engineering from Ecole Centrale Nantes, Nantes, France, in 2001, and his Doctorate degree in mechanical engineering from the University of Nantes in 2004. He was a Post-doctoral Fellow in the Centre for Intelligent Machines, McGill University, Montreal, QC, Canada from 2005 to 2006. He was awarded the accreditation to supervise research (HDR) in 2014. <br/><br/>Dr. Caro is the head of the “Robots and Machines for Manufacturing Society and Services” (RoMaS) Team at LS2N. He is also a part-time researcher at IRT Jules Verne, a mutualized industrial research institute. Moreover, he is a lecturer at Ecole Centrale de Nantes. He is a member of ASME and IEEE. He is one of the two recipients of the 2018 Reviewers of the Year for the ASME Journal of Mechanisms and Robotics. He is one of two recipients of the 2019 Crossley Award, Mechanism and Machine Theory. He is associate editor for the ASME Journal of Mechanisms and Robotics. <br/><br/>Dr. Caro’s research focuses on design, modeling and control of cable-driven parallel robots and reconfigurable parallel robots. He is the author of 77 papers published in international journals, 166 papers presented in international conferences, 52 contributions in books and 10 patents.<br/><br/>E-mail address: stephane.caro@ls2n.fr<br/><br/>Tel: +33 (0)2 40 37 69 68<br/><br/>LS2N - Centrale Nantes<br/>Room 505<br/>1, rue de la No&#235;<br/>44 321 Nantes CEDEX3<br/>FRANCE<br/><br/>https://cv.archives-ouvertes.fr/stephane-caro

Authors:

Giuseppe Sciarra Nantes Université, Centrale Nantes
Tahir Rasheed CNRS - LS2N
Valentina Mattioni Department of Industrial Engineering, University of Bologna, 40137 Bologna, Italy
Philippe Cardou Laboratoire de robotique, Département de génie mécanique, Université Laval, Québec, QC, Canada
Stephane Caro CNRS - LS2N