Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis

Rodríguez Barroso, Alejandro and Saltaren Pazmiño, Roque Jacinto and Portilla Tuesta, Gerardo Alejandro and Cely Gutiérrez, Juan Sebastián and Yakrangi, Oz (2019). Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis. "Sensors", v. 19 (n. 15); p. 3403. https://doi.org/10.3390/s19153403.

Description

Title: Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis
Author/s:
  • Rodríguez Barroso, Alejandro
  • Saltaren Pazmiño, Roque Jacinto
  • Portilla Tuesta, Gerardo Alejandro
  • Cely Gutiérrez, Juan Sebastián
  • Yakrangi, Oz
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 2019
Volume: 19
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - Non commercial

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Abstract

Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators’ energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainPGC2018-095939-B-I00UnspecifiedUnspecifiedUnspecified
Government of SpainDPI2014-57220-C2-1-PUnspecifiedUnspecifiedUnspecified
Government of SpainS2018/NMT-4331UnspecifiedUnspecifiedRoboCity2030 DIH-CM Madrid Robotics Digital Innovation Hub

More information

Item ID: 65886
DC Identifier: http://oa.upm.es/65886/
OAI Identifier: oai:oa.upm.es:65886
DOI: 10.3390/s19153403
Official URL: https://www.mdpi.com/1424-8220/19/15/3403
Deposited by: Alejandro Rodríguez Barroso
Deposited on: 17 Jan 2021 15:25
Last Modified: 17 Jan 2021 15:25
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