An Identification Methodology for 6-DoF Cable-Driven Parallel Robots Parameters Application to the INCA 6D Robot
This paper proposes a methodology for the identification of the combined kinematic and dynamic parameters of a 6-Degrees of Freedom (6-DoF) Cable-Driven Parallel Robots (CDPRs) model. This methodology aims to ensure that the errors on the kinematic parame
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Abstract This paper proposes a methodology for the identification of the combined kinematic and dynamic parameters of a 6-Degrees of Freedom (6-DoF) Cable-Driven Parallel Robots (CDPRs) model. This methodology aims to ensure that the errors on the kinematic parameters do not affect the performances of the dynamic parameters estimation step. The proposed methodology has been implemented on a 6-DoF INCA robot. The identified model fits the system behaviour with good accuracy, and should then be used for the synthesis and analysis of kinematic and dynamic position / vision control strategies.
1 Introduction 1.1 Parallel Cable-Driven Robots The CDPRs are parallel robot manipulators in which the end-effector or also platform is connected to the base via cables, its movement resulting from the winding and unwinding of the cables around pulleys actuated by motors. Compared to serial and parallel conventional manipulator robots actuated by rigid links, cable-actuated robots benefit from interesting features: they can reach a very large kinematic workspace, achieve movements at higher speeds due to the low total mass of the structure in movement, and also provide a modular or adjustable geometry to satisfy the performances of the performed tasks. However, for cable-actuated robots, the cables can only exert tensile forces (positive tensions) [1]. This introduces static constraints in addition to the purely kinematic constraints present on the rigid link actuated parallel robots. R. Chellal (B) · E. Laroche · L. Cuvillon · J. Gangloff LSIIT (UDS/UMR CNRS/INSAS), Strasbourg University, Pole API bd S. Brand, 67400 Illkirch, Strasbourg, France 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_19, © Springer-Verlag Berlin Heidelberg 2013
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Fig. 1 Parallel cable-driven robot INCA 6D. a Cubic kinematic workspace (View 1). b Cubic kinematic workspace (View 2). c Motor (Maxon DC motor 148877) and the CDU/CBU mechanisms. d Driving/Balancing cables, balancing springs and pulleys. e End-effector. f Infrared camera
This type of robots is used in two major applications depending on the size of the kinematic workspace on which they operate: • Applications with a small kinematic workspace: this is typically, the case of haptic interfaces in virtual reality. • Applications with a large kinematic workspace: where they are used to move cameras over long distances, on sites of sport matches or shows.
1.2 Haptic Interface INCA The INCA robot (Fig. 1), developed by the Haption company,1 is a haptic interface with force feedback specifically designed to test the manipulation of objects in virtual reality environments. In the 3D version using 4 cables, only the forces are solicited for the translational motions. The 6D version with 8 cables considered here, can also render the moments for the rotational motions. In the present work, the INCA robot is used as a manipul
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