Cable-driven parallel robot with reconfigurable end effector controlled with a compliant actuator

Rodríguez Barroso, Alejandro and Saltaren Pazmiño, Roque Jacinto and Portilla Tuesta, Gerardo Alejandro and Cely Gutiérrez, Juan Sebastián and Carpio, Marco (2018). Cable-driven parallel robot with reconfigurable end effector controlled with a compliant actuator. "Sensors", v. 18 (n. 9); p. 2765. https://doi.org/10.3390/s18092765.

Description

Title: Cable-driven parallel robot with reconfigurable end effector controlled with a compliant actuator
Author/s:
  • Rodríguez Barroso, Alejandro
  • Saltaren Pazmiño, Roque Jacinto
  • Portilla Tuesta, Gerardo Alejandro
  • Cely Gutiérrez, Juan Sebastián
  • Carpio, Marco
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 2018
Volume: 18
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

Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform’s internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-57220-C2-1-PUnspecifiedUnspecified"ROBOT ACTUADO POR CABLES PARA INVESTIGAR Y DESARROLLAR EL CONTROL CINEMATICO Y DINAMICO DE SISTEMA ROBOTIZADOS EN BAJA GRAVEDAD: APLICACION A ROBOTS HUMANOIDES SUBMARINOS
Government of SpainDPI2013-49527-EXPUnspecifiedUnspecifiedDESARROLLO PRACTICO Y EXPERIMENTAL DE UN MODELO DE CONTROL BASADO EN COMPORTAMIENTOS INNATOS APLICADO A ROBOTS
Madrid Regional GovernmentS2013/MIT-2748RoboCity2030-III-CMUnspecifiedRobótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III

More information

Item ID: 65885
DC Identifier: https://oa.upm.es/65885/
OAI Identifier: oai:oa.upm.es:65885
DOI: 10.3390/s18092765
Official URL: https://www.mdpi.com/1424-8220/18/9/2765
Deposited by: Alejandro Rodríguez Barroso
Deposited on: 17 Jan 2021 15:20
Last Modified: 17 Jan 2021 15:21
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