Minimization of bounded cable tensions in cable-based parallel manipulators

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007

Volumn 8 PART B, Issue , 2008, Pages 991-999

  Hassan, Manir ^a   Khajepour, Amir ^a  

^a UNIVERSITY OF WATERLOO   (Canada)

Author keywords

Cable force bounds; Convex analysis; Inverse kinematics; Optimization; Pretension; Tendon driven robots; Wire driven parallel robot manipulators

Indexed keywords

ALTERNATING PROJECTION METHODS; APPLIED (CO); CABLE FORCES; INTERNATIONAL DESIGNS; LOWER AND UPPER BOUNDS; LOWER BOUNDS; PARALLEL MANIPULATORS; SYSTEMATIC (CO); TASK FORCES; TECHNICAL CONFERENCES; UPPER BOUNDS;

ACTUATORS; ARCHITECTURAL DESIGN; AUTOMATION; BRIDGE CABLES; CABLES; COMPUTER NETWORKS; COMPUTERS; ENGINEERING; INFORMATION TECHNOLOGY; MACHINE DESIGN; MANIPULATORS; MECHANISMS; NUMBER THEORY; ROBOTICS; ROBOTS; TECHNOLOGY; WIRE ROPE;

NUMERICAL METHODS;

EID: 44849123214     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2007-34459     Document Type: Conference Paper

References (21)

1. Kawamura, S., Ito, K., 1993, "A New Type of Master Robot for Teleoperation Using a Radial Wire Drive System", Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 55-60.
2. Ming, A, Higuchi, T., 1994, "Study on Multiple Degree-of-Freedom Positioning Mechanism Using Wires (Part 1)", International Journal of Japan Society of Precision Engineering, 28(2), pp. 131-138.
3. Albus, J., Bostelman, R., Dagalakis, N., 1993, "The Nist Robocrane", Journal of Robotic Systems, 10(5), pp. 709-724.
4. Kawamura, S., Choe, W., Tanak, S., 1995, "Development of an Ultrahigh Speed Robot Falcon Using Wire Driven Systems", Proceedings of the IEEE International Conference on Robotics and Automation, pp. 215-220.
5. Maeda, K., Tadokoro, S., Takamori, T., Hiller, M., Verhoeven, R., 1999, "On Design of a Redundant Wiredriven Parallel Robot WARP Manipulator" Proceedings of the International IEEE Conference on Robotics and Automation, 2, pp. 895-900.
6. Ferraresi, C., Paoloni, M, Pescarmona, F., 2004, "A new 6-dof Parallel Robotic Structure Actuated by Wires: The Wiro-6.3", Journal of Robotic Systems, 21(11), pp. 581-595.
7. Behzadipour, S., Khajepour, A., 2005, "A New Cable-based Parallel Robot with Three Degrees of Freedom", Multibody System Dynamics, 13, pp. 371-383.
8. Mroz, G., Notash, L., 2004, "Wire-actuated Robots with a Constraining Linkage", Journal of Robotic Systems, 21(12), pp. 677-678.
9. Hassan, M., Khajepour, A., 2006, "Optimum Connection Positions for the Redundant Limb in Cable-based Parallel Manipulators", ASME International Mechanical Engineering Congress and Exposition (IMECE), Chicago, Illinois, U.S.A.
10. Roberts, R.G, Graham, T., Lippitt, T., 1998, "On the Inverse Kinematics, Statics, and Fault Tolerance of Cable-Suspended Robots", Journal of Robotic Systems, 15(10), pp. 581-597.
11. Bosscher P, Ebert-Uphoff, I., 2004, "Wrench-based Analysis of Cable-driven Robots", Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4950-4955.
12. Gouttefarde M., Gosselin, C., 2006, "Analysis of the Wrench-closure Workspace of Planar Parallel Cable-driven Mechanisms", IEEE Transactions on Robotics, 22(3), pp. 434-445.
13. Pham, C. B., Yeo S. H., Yang G., Kurbanhusen, M. S., Chen, I-M., 2006, "Force-closure Workspace Analysis of Cable-driven Parallel Mechanisms", Mechanisms and Machine Theory, 41, pp. 53-69.
14. Stump, E, Kumar, V., 2006, "Workspaces of Cable-Actuated Parallel Manipulators", ASME Journal of Mechanical Design, 128(1), pp. 159-167.
15. Fang, S., Franitza, D., Torio, M., Bekes, F., Hiller, M., 2004, "Motion Control of a Tendon-Based Parallel Manipulator Using Optimal Tension Distribution", IEEE/ASME Transactions on Mechatronics, 9(3), pp. 561-568.
16. Hassan, M., Khajepour A., 2007, "Minimum-norm Solution for the Actuator Forces in Cable-based Parallel Manipulators based on Convex Analysis", Proceedings of the IEEE International Conference on Robotic and Automation.
17. Boyd, S., Vandenberghe, L., 2004, Convex Optimization, Cambridge University Press, U.K.
18. Dattorro, J., 2005, Convex Optimization & Euclidean Distance Geometry, Meboo Publishing, U.S.A.
19. Dykstra, R. L., 1983, "An Algorithm for Restricted Least Squares Regression", Journal of the American Statistical Association, 78, pp. 837-842.
20. Han, S.-P., 1988, "A successive projection method", Mathematical Programming, 40, pp. 1-14.
21. Bauschke, H. H., Borwein, J. M., 1994, "Dykstra's Alternating Projection Algorithm for Two Sets", Journal of Approximation Theory, 79, pp. 418-443.