Adaptive cable-driven parallel robots are a special subclass of cable-driven systems in which the locations of the pulley blocks are modified as a function of the end-effector pose to obtain optimal values of given performance indices within a target workspace. Due to their augmented kinematic redundancy, such systems enable larger workspace volume and higher performance compared to traditional designs featuring the same number of cables. Previous studies have introduced a systematic method to optimize design and trajectory planning of the moving pulley-blocks for a given performance index. In this paper, we study the motions of the pulley blocks that optimize two performance indices simultaneously: stiffness and dexterity. Specifically, we present a method to determine the pulley blocks motions that guarantee ideal dexterity with the best feasible elastic stiffness, as well as those that guarantee isotropic elastic stiffness with the best feasible dexterity. We demonstrate the proposed approach on some practical cases of planar adaptive cable-driven parallel robots.
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June 2017
Research-Article
Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots
Saeed Abdolshah,
Saeed Abdolshah
Department of Management and
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: Saeed.abdolshah@studenti.unipd.it
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: Saeed.abdolshah@studenti.unipd.it
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Giulio Rosati,
Giulio Rosati
Department of Management and
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: giulio.rosati@unipd.it
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: giulio.rosati@unipd.it
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Sunil K. Agrawal
Sunil K. Agrawal
Fellow ASME ROAR Lab,
Department of Mechanical Engineering,
Columbia University,
New York, NY 10027
e-mail: sunil.agrawal@columbia.edu
Department of Mechanical Engineering,
Columbia University,
New York, NY 10027
e-mail: sunil.agrawal@columbia.edu
Search for other works by this author on:
Saeed Abdolshah
Department of Management and
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: Saeed.abdolshah@studenti.unipd.it
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: Saeed.abdolshah@studenti.unipd.it
Damiano Zanotto
Giulio Rosati
Department of Management and
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: giulio.rosati@unipd.it
Engineering (DTG),
University of Padua,
Padova 35131, Italy
e-mail: giulio.rosati@unipd.it
Sunil K. Agrawal
Fellow ASME ROAR Lab,
Department of Mechanical Engineering,
Columbia University,
New York, NY 10027
e-mail: sunil.agrawal@columbia.edu
Department of Mechanical Engineering,
Columbia University,
New York, NY 10027
e-mail: sunil.agrawal@columbia.edu
1Corresponding author.
Manuscript received April 26, 2016; final manuscript received December 18, 2016; published online March 20, 2017. Assoc. Editor: Venkat Krovi.
J. Mechanisms Robotics. Jun 2017, 9(3): 031004 (11 pages)
Published Online: March 20, 2017
Article history
Received:
April 26, 2016
Revised:
December 18, 2016
Citation
Abdolshah, S., Zanotto, D., Rosati, G., and Agrawal, S. K. (March 20, 2017). "Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots." ASME. J. Mechanisms Robotics. June 2017; 9(3): 031004. https://doi.org/10.1115/1.4035681
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