Analysis of optimal cable configurations in the design of a 3-DOF cable-driven robot leg

Proceedings of the ASME Design Engineering Technical Conference

Volumn 5A, Issue , 2014, Pages

  Bryson, Joshua T ^a   Agrawal, Sunil K ^b  

^a UNIVERSITY OF DELAWARE   (United States)

^b Department of Earth and Environmental Sciences   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); DESIGN; MACHINE DESIGN; ROBOTS;

CABLE DRIVEN ROBOTS; CABLE-DRIVEN; PLACEMENT AND ROUTING; RANGE OF MOTIONS; ROBOT LEG; SERIAL ROBOTS;

CABLES;

EID: 84926050020     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2014-34656     Document Type: Conference Paper

References (15)

1. Mustafa, S., and Agrawal, S., 2012. "On the force-closure analysis of n-dof cable-driven open chains based on reciprocal screw theory". IEEE Transactions on Robotics, 28(1), pp. 22-31.
2. Verhoeven, R., and Hiller, M., 2000. "Estimating the controllable workspace of tendon-based stewart platforms". Proceedings of the 7th International Symposium on Advances in Robot Kinematics, pp. 277-284.
3. Gouttefarde, M., and Gosselin, C. M., 2006. "Analysis of the wrench-closure workspace of planar parallel cabledriven mechanisms". IEEE Transactions on Robotics, 22(3), pp. 434-445.
4. Gouttefarde, M., and Gosselin, C. M., 2004. "On the properties and the determination of the wrench-closure workspace of planar parallel cable-driven mechanisms". Proceedings of the ASME IDETC/CIE(46954), pp. 337-346.
5. Rezazadeh, S., and Behzadipour, S., 2011. "Workspace analysis of multibody cable-driven mechanisms". Journal of Mechanisms and Robotics, 3(2), pp. 1-10.
6. Fattah, A., and Agrawal, S. K., 2002. "Workspace and design analysis of cable-suspended planar parallel robots". Proceedings of the ASME IDETC/CIE, 5, pp. 1095-1103.
7. Roberts, R. G., Graham, T., and Lippitt, T., 1998. "On the inverse kinematics, statics, and fault tolerance of cablesuspended robots". Journal of Robotic Systems, 15(10), pp. 581-597.
8. Mustafa, S., and Agrawal, S., 2011. "Reciprocal screwbased force-closure of an n-dof open chain: Minimum number of cables required to fully constrain it". Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3029-3034.
9. Bryson, J. T., and Agrawal, S. K., 2013. "Methodology to identify and analyze optimal cable configurations in the design of cable-driven serial manipulators". Proceedings of the ASME IDETC/CIE(12261).
10. Bryson, J. T., and Agrawal, S. K., 2012. "Variation of the workspace of cable-driven two-link planar manipulators due to cable attachement points". Proceedings of the ASME IDETC/CIE(70949).
11. Pusey, J., Fattah, A., Agrawal, S., and Messina, E., 2004. "Design and workspace analysis of a 6-6 cable-suspended parallel robot". Mechanism and Machine Theory, 39(7), pp. 761-778.
12. Fattah, A., and Agrawal, S. K., 2005. "On the design of cable-suspended planar parallel robots". Journal of Mechanical Design, 127(5), pp. 1021-1028.
13. Kljuno, E., Zhu, J. J., II, R. L. W., and Reily, S. M., 2012. "Bipedal walking robot driven by elastic cables". Proceedings of the ASME IDETC/CIE(70292), pp. 1365-1374.
14. Spong, M. W., Hutchinson, S., and Vidyasagar, M., 2006. Robot Modeling and Control. John Wiley and Sons, Inc.
15. Jazar, R. N., 2010. Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2nd ed. Springer.