Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment
| Autor: | David Marquez-Gamez, Stéphane Caro, Philip Long, Tahir Rasheed |
|---|---|
| Přispěvatelé: | Robots and Machines for Manufacturing, Society and Services (LS2N - équipe RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), École Centrale de Nantes (ECN), Irish Manufacturing Research, Northeastern University [Boston], University of Liverpool, Centre National de la Recherche Scientifique (CNRS), European Project: 601116,EC:FP7:ICT,FP7-ICT-2011-9,ECHORD PLUS PLUS(2013), European Project, Robots and Machines for Manufacturing, Society and Services (RoMas), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique) |
| Rok vydání: | 2019 |
| Předmět: |
Wrench Analysis
0209 industrial biotechnology Path Planning Computer science Real-time computing Parallel manipulator Reconfigurability 02 engineering and technology Base (topology) [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph] [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Collision free Path (graph theory) Kinematic Redundancy Cable driven Motion planning Kinematic redundancy Mobile Cable-Driven Parallel Robot |
| Zdroj: | Mechanisms and Machine Science ISBN: 9783030207502 Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham, pp.257-268, 2019, ⟨10.1007/978-3-030-20751-9_22⟩ |
| DOI: | 10.1007/978-3-030-20751-9_22 |
| Popis: | International audience; A Mobile Cable-Driven Parallel Robot (MCDPR) is a special type of Reconfigurable Cable-Driven Parallel Robot (RCDPR) composed of a classical Cable-Driven Parallel Robot (CDPR) mounted on multiple mobile bases. The additional mobility of the mobile bases allows such systems to autonomously modify their geometric architecture, and thus make them suitable for multiple manipulative tasks in constrained environments. Moreover, these additional mo-bilities make MCDPRs kinematically redundant. Therefore, the subject of this paper is to introduce a two stage path planning algorithm for MCDPRs. The first stage searches for a feasible and collision free path of mobile bases. The second stage deals with generating an optimal path of the moving-platform to displace it from an initial to a desired pose. The proposed algorithm is validated through simulation on a three degree-of-freedom (DoF) point mass moving-platform displaced by four cables with each cable carried by an independent mobile base. |
| Databáze: | OpenAIRE |
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