![]() ![]() Conclusions are shown in the last section for future projects and recommendations for the construction process. Section 3 shows the interface and the mechanical, electronic and control design and implementation for a built prototype.įinally, section 4 presents the measurement results of the said prototype’s movements comparing simulations and experimental results in order to validate the design process. Based on the models, a graphic interface was programed to be able to select the actuators needed for any suspended planar robot to be built, making its design parametric. ![]() Subsequently, the paper details the design and construction process for a suspended planar cable robot starting with the relevant mathematical models shown in section 2. In order to validate and foresee possible errors in this approach, a prototype was developed and tested. The following paper takes a parametric approach on the design process of CDPR, highlighting one of the main advantages of these types of robots that is scalability. Depending on their size they may be less expensive, easier to build, reconfigured, safer and non-invasive. Additionally, CDPR with small to very large cable lengths allow them to be stored on spools or drums thus allowing to build robots with a workspace of wide dimension. CDPR provide desirable characteristics, including potential large workspace, the facility to be reconfigured, high speeds of motion, and high payload capacities to weight ratios. Compared to rigid parallel manipulators, cable-driven parallel robots use cables as links instead of rigid ones to control the motion of the end-effector. ![]() Therefore, CDPR are ideal for pick and place operations due to their high speeds and large workspaces. For uses such as Contour Crafting to manipulate patients in medical areas, these types of robots are versatile in many applications. Palabras clave: robot comandado mediante cables, cinemática, espacio de trabajo alcanzable, sistemas de control, seguimiento trayectoria.Ĭable Driven Parallel Robots or CDPR have been widely studied in many areas. Finalmente, usando el diseño paramétrico, se desarrolló y construyó un prototipo con el fin de validar el proceso de diseño y evaluar precisión en su movimiento, así como identificar futuras mejoras y prever puntos críticos tanto en el diseño mecánico como en los sistemas de actuación no consideradas en el proceso de diseño. En este trabajo, se estudian todas las áreas del diseño robótico para un robot por cables planar cuyo objetivo principal es ser parametrizable, es decir, que el proceso de diseño y los modelos matemáticos utilizados en este trabajo se puedan escalar fácilmente permitiendo implementar la arquitectura trabajada para necesidades específicas. Los robots comandados mediante cables han sido muy estudiados en los últimos años, debido a las ventajas que presentan con respecto a otros robots paralelos. Keywords: cable driven parallel robots, kinematics, feasible workspace, control systems, trajectory tracking. Finally, using the parametric design approach, a prototype was developed and built in order to validate the design process, evaluate the robot’s precision, identify future works and improvements and foresee any trouble that was not considered during the design phase. In this paper, all the areas of robotic design have been studied for a planar cable driven robot, with the objective of making it parametric, meaning that the design process and mathematical models used in this paper could be used to implement the suggested architecture to solve any specific need. Cable driven robots have been a widely researched topic in the last few years, this is due to the advantages that they present over conventional parallel robots.
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |