Force-closure analysis of 6-DOF cable manipulators with seven or more cables

Robotica

Volumn 27, Issue 2, 2009, Pages 209-215

  Diao, Xiumin ^a   Ma, Ou ^a  

^a Horeshoe Cir Jett Hall   (United States)

Author keywords

Cable manipulator; Cable robot; Force closure; Tendon robot; Wire robot

Indexed keywords

CABLE ROBOT; DESIGN AND CONTROL; FORCE-CLOSURE; MANIPULATOR CONTROL; POSE CORRESPONDING; SYSTEMATIC METHOD;

MANIPULATORS; ROBOTS; TENDONS; WIRE;

CABLES;

EID: 67651204340     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574708004591     Document Type: Article

References (25)

1. L. L. Cone, "Skycam: An aerial robotic camera system," Byte 122-132 (1985).
2. N. G. Dagalakis et al., "Stiffness study of a parallel link robot crane for shipbuilding applications," J. Offshore Mech. Arctic Eng. 111, 183-193 (1989).
3. S. Kawamura, H. Kino and C. Won, "High-speed manipulation by using a parallel wire-driven manipulators," Robotica 18, 13-21 (2000).
4. J.-P. Merlet, "Analysis of the influence of wires interference on the workspace of wire robots," In: Advances in Robot Kinematics (Sestri-Levante, Italy, 2004) pp. 211-218.
5. R. L. Williams II, J. S. Albus and R. V. Bostelman, "3D cable-based Cartesian metrology system," J. Rob. Syst. 21(5), 237-257 (2004).
6. S. Oh, J. Ryu and K. Agrawal, "Dynamics and control of helicopters with a six-cables suspended robot," J. Mech. Des. 128, 1113-1121 (2006).
7. A.Ming and T.Higuchi, "Study on multiple degree-of-freedom positioning mechanism using wires (part 1)," Int. J. Jpn. Soc. Precision Eng. 28(2), 131-138 (1994).
8. I. Ebert-Uphoff and P. A. Voglewede, "On the Connections Between Cable-Driven Manipulators, Parallel Manipulators and Grasping", Proc. of IEEE Int. Conf. on Robotics & Automation, New Orleans, LA (2004) 4521-4526.
9. V.-D. Nguyen, "Constructing force-closure grasps," Int. J. Rob. Res. 7(3), 3-16 (1988).
10. M.R.Cutkosky, "On grasp, choice, grasp model, and the design of hands for manufacturing tasks," IEEE Trans. Rob. Automat. 5(3), 269-279 (1989).
11. C. B. Pham et al., "Force-closure workspace analysis of cable-driven parallel mechanisms," Mech. Mach. Theory 41(1), 53-69 (2006).
12. R. T. Rockafellar, Convex Analysis (Princeton University Press, Princeton, NJ, 1970).
13. P. Gallina and G. Rosati, "Manipulability of a planar wire driven haptic device," Mech. Mach. Theory 37(2), 215-228 (2002).
14. M. Gouttefarde and C. Gosselin, "On the properties and the determination of the wrench-closure workspace of planar parallel cable-driven mechanisms," ASME Des. Eng. Tech. Conf. Computer Inf. Eng. Conf. Salt Lake City, UT, 337-346 (2004).
15. X. Diao and O. Ma, "A method of verifying the force-closure condition for general cable manipulators with seven cables," Mech. Mach. Theory 42(12), 1563-1576, (2007).
16. X. Yin and A. P. Bowling, "Dynamic performance limitations due to yielding in cable-driven robotic manipulators," J. Mech. Des. 128(1), 311-318 (2006).
17. R. Murray, Z. Li and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation (Boca Raton, FL, CRC Press, 1994).
18. R. G. Roberts, T. Graham and T. Lippitt, "On the inverse kinematics, statics, and fault tolerance of cable-suspended manipulators," J. Rob. Syst. 15(10), 581-597 (1998).
19. E. Stump and V. Kumar, "Workspace delineation of cable-actuated parallel manipulators," ASME Des. Eng. Tech. Conf. Computer Inf. Eng. Conf., Salt Lake City, UT (2004).
20. G. Yang et al., "Kinematic Design of a 7-DOF Cable-Driven Humanoid Arm: A Solution-in-Nature Approach," Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, CA (2005) pp. 444-449.
21. X. Diao and O. Ma, "Workspace Analysis of a 6-DOF Cable Robot for Hardware-in-the-Loop Dynamic Simulation," Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Beijing, China (2006) pp. 4103-4108.
22. P. M. Bosscher, Disturbance Robustness Measures and Wrench-Feasible Workspace Generation Techniques for Cable-Driven Manipulators Ph.D. Thesis (Georgia Institute of Technology, 2004).
23. G. Barrette and C. Gosselin, "Determination of the dynamic workspace of cable-driven planar parallel mechanisms," ASME J. Mech. Des. 127(2), 242-248 (2005).
24. J. O'Rourke, Computational Geometry in C (Cambridge University Press, Cambridge, UK, 1994).
25. C. Barber, D. Dobkin and H. Huhdanpaa, "The quickhull algorithm for convex hulls," ACM Trans. Math. Software 22(4), 469-483 (1996).