Use of Passively Guided Deflection Units and Energy-Storing Elements to Increase the Application Range of Wire Robots
Since few years, wire robots are making their way into industrial application. Besides the continuation of research in the fields of kinematics and dynamics modeling, control, workspace analysis, and design, new challenges like robustness, energy efficien
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Abstract Since few years, wire robots are making their way into industrial application. Besides the continuation of research in the fields of kinematics and dynamics modeling, control, workspace analysis, and design, new challenges like robustness, energy efficiency and maturity arise due to practical requirements. This holds especially true for the actuation and deflection components of the system. In the past, a wide range of actuation and deflection concepts were presented. Within this contribution, at first known ideas of deflection concepts are reviewed and compared. In the following, a new deflection concept using passively guided skids is presented which homogenizes the load capabilities of a wire robot over its workspace. Subsequently, new approaches optimizing the energy consumption based on the installation of counterweights and pre-stressed springs are discussed. Using those passive elements, not only static pre-tension can be generated but, in the case of using springs, also dynamic motions can be boosted by using the eigenmotions of the oscillator consisting of the end effector and the attached springs. The paper describes both
J. von Zitzewitz (B) Center for Neuroprosthetics and Brain Mind Institute, EPFL Lausanne, 1015 Lausanne, Switzerland e-mail: [email protected] J. von Zitzewitz · H. Vallery Sensory-Motor Systems (SMS) Lab, ETH Zurich, 8092 Zurich, Switzerland L. Fehlberg · T. Bruckmann Chair of Mechatronics, University Duisburg-Essen, 47057 Duisburg, Germany e-mail: [email protected] T. Bruckmann e-mail: [email protected] H. Vallery Kalifa University, Abu Dhabi, United Arab Emirates 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_11, © Springer-Verlag Berlin Heidelberg 2013
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the theoretical background as well as simulation results for eigenmotion utilization showing that the concept is capable of drastically reducing wire forces generated by the active components, i.e. the motors, for a given task.
1 Introduction Wire robotics is a re-emerging research field in robotics: A large number of prototypes was presented in the last decade of the past century. Apparently, only a small number of these prototypes have made their way to practical applications. Possible reasons are manifold, reaching from the difficult controllability up to the comparably low precision induced by the uni-laterally constraining and inherently elastic wires, which replace the stiff conventional robot arms. During the last five to eight years, a renaissance of practical applications can be found, most of which were proceeded by an extensive theoretical preparative work. In more recent research projects, the focus is increasingly put on a major advantage of wire robots: their easy reconfigurability. This property emerges from the modular usability of the three main components of a wire robot: the actuation unit, the deflection unit, and the wire. A
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