Design and implementation of a cable-driven parallel robot for additive manufacturing applications

被引：17
作者：
Gueners, Damien [1 ,2 ]
Chanal, Helene [1 ]
Bouzgarrou, Belhassen-Chedli [1 ]
机构：
[1] Univ Clermont Auvergne, Inst Pascal, Dept M3G, CNRS,Clermont Auvergne INP, F-63000 Clermont Ferrand, France
[2] Univ Montpellier, LIRMM, CNRS, Montpellier, France
来源：
MECHATRONICS | 2022年 / 86卷
关键词：
Cable-driven parallel robot; Design; Kinematics; Performance; DYNAMIC-ANALYSIS; FIBER CABLES; KINEMATICS; MODEL; MANIPULATORS; STIFFNESS;
D O I：
10.1016/j.mechatronics.2022.102874
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new 6 degree-of-freedom cable-driven parallel robot fully constrained by 8 cables. This robot should perform medium size 3D part printing. Its distinguishing feature is a radial cable winding that is relevant due to the small cable diameter (0.54 mm) and the maximum cable length (1.732 m, 1 m cube diagonal). This winding solution has the advantage of being compact and easy to design. The robot trajectory planning uses a full geometric model of the pulley and winding system which is introduced in this paper. The cable elasticity is taken into account in the geometric model to increase the tool path following accuracy. Robot dynamic performances are analyzed for two different mobile platform geometries. From this analysis, we obtained an end-effector trajectory tracking error of less than 0.4 mm for a feedrate speed of 0.1 m/s.
引用
收藏
页数：17
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