Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis
The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which
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Abstract The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may be used to efficiently design different parallel mechanisms, and cable driven robots. By this measure, and for parallel manipulators, it is possible to visualize constant orientation workspace of the mechanism where the kinematic sensitivity is less than a desired value considered by the designer. For cable driven redundant robots, the controllable workspace is combined with the desired kinematic sensitivity property, to determine the so-called feasible kinematic sensitivity workspace of the robot. Three case studies are considered for the development of the idea and verification of the results, through which a conventional planar parallel manipulator, a redundant one and a cable driven robot is examined in detail. Finally, the paper provides some hints for the optimum design of the mechanisms under study by introducing the concept of minimum feasible kinematic sensitivity covering the whole workspace.
S. A. Khalilpour (B) · A. Z. Loloei · H. D. Taghirad Advanced Robotics and Automated Systems, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, 16315-1355 Tehran, Iran e-mail: [email protected] A. Z. Loloei e-mail: [email protected] H. D. Taghirad e-mail: [email protected] M. Tale Masouleh Faculty of Modern Science and New Technology, University of Tehran, at Tehran, Iran e-mail: [email protected] T. Bruckmann and A. Pott (eds.), Cable-Driven Parallel Robots, Mechanisms and Machine Science 12, DOI: 10.1007/978-3-642-31988-4_15, © Springer-Verlag Berlin Heidelberg 2013
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1 Introduction Cable driven redundant parallel manipulators (CDRPMs) consist of a moving platform which is connected by the means of actuated cables to the base. Redundancy is an inherent requirement for CDRPMs due to the fact that cables can only pull but cannot push the moving platform. Thus, in a non-singular posture, the moving platform can perform n Degree-Of-Freedom (DOF) provided that at least n + 1 cables are used. CDRPMs are special design of parallel manipulators (PMs) that heritage the advantages of PMs such as high acceleration and high load carrying capability and at the same time, have alleviated some of their shortcomings, such as restricted workspace. Due to the several eminent features of CDRPMs, they have stimulated the interest of many researchers and they are becoming the state-of-the-art in many real applications, such as telescope [1], haptic interface [2], motion trackers [3], rescue robotics [4], metrology [5], rehabilitation [6], sport training [7], heavy load transportation [8] and surgery [9]. However there are still some gap to fill in the kinemat
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