Static analysis and dimensional optimization of a cable-driven parallel robot

Matthew Newman, Arthur Zygielbaum, Benjamin Terry

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A cable-driven parallel manipulator has been chosen to suspend and navigate instruments over a phenotyping research facility at the University of Nebraska. This paper addresses the static analysis and dimensional optimization of this system. Analysis of the system was performed with catenary simplification to create force equilibrium equations and define a mathematical model. The model incorporates flexibility due to catenary sag of the cables. Cable axial stiffness was not included because stiffness is dominated by catenary flexibility for the expected cable tensions. The model was used to optimize system dimensions, and a twelfth-scale system was constructed to verify the model as well as enable dynamic and control system experimentation during full-scale system construction. Miniature end-effectors were used to obtain end-effector orientation and cable tension measurements which were comparable to model predictions. The mathematical model was thereby shown to be accurate for the purpose of system static analysis.

Original languageEnglish (US)
Title of host publicationCable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
EditorsTobias Bruckmann, Clement Gosselin, Philippe Cardou, Andreas Pott
PublisherSpringer Netherlands
Pages152-166
Number of pages15
ISBN (Print)9783319614304
DOIs
StatePublished - Jan 1 2018
Event3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 - Quebec City, Canada
Duration: Aug 2 2017Aug 4 2017

Publication series

NameMechanisms and Machine Science
Volume53
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
CountryCanada
CityQuebec City
Period8/2/178/4/17

Fingerprint

Static analysis
Cables
Robots
End effectors
Stiffness
Mathematical models
Manipulators
Dynamical systems
Control systems

Keywords

  • Manipulator motion-planning
  • Modeling
  • Parallel machines
  • Robot kinematics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Newman, M., Zygielbaum, A., & Terry, B. (2018). Static analysis and dimensional optimization of a cable-driven parallel robot. In T. Bruckmann, C. Gosselin, P. Cardou, & A. Pott (Eds.), Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots (pp. 152-166). (Mechanisms and Machine Science; Vol. 53). Springer Netherlands. https://doi.org/10.1007/978-3-319-61431-1_14

Static analysis and dimensional optimization of a cable-driven parallel robot. / Newman, Matthew; Zygielbaum, Arthur; Terry, Benjamin.

Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. ed. / Tobias Bruckmann; Clement Gosselin; Philippe Cardou; Andreas Pott. Springer Netherlands, 2018. p. 152-166 (Mechanisms and Machine Science; Vol. 53).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Newman, M, Zygielbaum, A & Terry, B 2018, Static analysis and dimensional optimization of a cable-driven parallel robot. in T Bruckmann, C Gosselin, P Cardou & A Pott (eds), Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol. 53, Springer Netherlands, pp. 152-166, 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017, Quebec City, Canada, 8/2/17. https://doi.org/10.1007/978-3-319-61431-1_14
Newman M, Zygielbaum A, Terry B. Static analysis and dimensional optimization of a cable-driven parallel robot. In Bruckmann T, Gosselin C, Cardou P, Pott A, editors, Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. Springer Netherlands. 2018. p. 152-166. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-61431-1_14
Newman, Matthew ; Zygielbaum, Arthur ; Terry, Benjamin. / Static analysis and dimensional optimization of a cable-driven parallel robot. Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. editor / Tobias Bruckmann ; Clement Gosselin ; Philippe Cardou ; Andreas Pott. Springer Netherlands, 2018. pp. 152-166 (Mechanisms and Machine Science).
@inproceedings{647dd6e3cc0f47b883085b14b855e038,
title = "Static analysis and dimensional optimization of a cable-driven parallel robot",
abstract = "A cable-driven parallel manipulator has been chosen to suspend and navigate instruments over a phenotyping research facility at the University of Nebraska. This paper addresses the static analysis and dimensional optimization of this system. Analysis of the system was performed with catenary simplification to create force equilibrium equations and define a mathematical model. The model incorporates flexibility due to catenary sag of the cables. Cable axial stiffness was not included because stiffness is dominated by catenary flexibility for the expected cable tensions. The model was used to optimize system dimensions, and a twelfth-scale system was constructed to verify the model as well as enable dynamic and control system experimentation during full-scale system construction. Miniature end-effectors were used to obtain end-effector orientation and cable tension measurements which were comparable to model predictions. The mathematical model was thereby shown to be accurate for the purpose of system static analysis.",
keywords = "Manipulator motion-planning, Modeling, Parallel machines, Robot kinematics",
author = "Matthew Newman and Arthur Zygielbaum and Benjamin Terry",
year = "2018",
month = "1",
day = "1",
doi = "10.1007/978-3-319-61431-1_14",
language = "English (US)",
isbn = "9783319614304",
series = "Mechanisms and Machine Science",
publisher = "Springer Netherlands",
pages = "152--166",
editor = "Tobias Bruckmann and Clement Gosselin and Philippe Cardou and Andreas Pott",
booktitle = "Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots",

}

TY - GEN

T1 - Static analysis and dimensional optimization of a cable-driven parallel robot

AU - Newman, Matthew

AU - Zygielbaum, Arthur

AU - Terry, Benjamin

PY - 2018/1/1

Y1 - 2018/1/1

N2 - A cable-driven parallel manipulator has been chosen to suspend and navigate instruments over a phenotyping research facility at the University of Nebraska. This paper addresses the static analysis and dimensional optimization of this system. Analysis of the system was performed with catenary simplification to create force equilibrium equations and define a mathematical model. The model incorporates flexibility due to catenary sag of the cables. Cable axial stiffness was not included because stiffness is dominated by catenary flexibility for the expected cable tensions. The model was used to optimize system dimensions, and a twelfth-scale system was constructed to verify the model as well as enable dynamic and control system experimentation during full-scale system construction. Miniature end-effectors were used to obtain end-effector orientation and cable tension measurements which were comparable to model predictions. The mathematical model was thereby shown to be accurate for the purpose of system static analysis.

AB - A cable-driven parallel manipulator has been chosen to suspend and navigate instruments over a phenotyping research facility at the University of Nebraska. This paper addresses the static analysis and dimensional optimization of this system. Analysis of the system was performed with catenary simplification to create force equilibrium equations and define a mathematical model. The model incorporates flexibility due to catenary sag of the cables. Cable axial stiffness was not included because stiffness is dominated by catenary flexibility for the expected cable tensions. The model was used to optimize system dimensions, and a twelfth-scale system was constructed to verify the model as well as enable dynamic and control system experimentation during full-scale system construction. Miniature end-effectors were used to obtain end-effector orientation and cable tension measurements which were comparable to model predictions. The mathematical model was thereby shown to be accurate for the purpose of system static analysis.

KW - Manipulator motion-planning

KW - Modeling

KW - Parallel machines

KW - Robot kinematics

UR - http://www.scopus.com/inward/record.url?scp=85025826406&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85025826406&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-61431-1_14

DO - 10.1007/978-3-319-61431-1_14

M3 - Conference contribution

AN - SCOPUS:85025826406

SN - 9783319614304

T3 - Mechanisms and Machine Science

SP - 152

EP - 166

BT - Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots

A2 - Bruckmann, Tobias

A2 - Gosselin, Clement

A2 - Cardou, Philippe

A2 - Pott, Andreas

PB - Springer Netherlands

ER -