Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement

Marco A. Carpio, Raul E. Astudillo, Jose M. Aller, Roque J. Saltaren, Alejandro Rodriguez, Gerardo A. Portilla, Juan S. Cely

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cable driven parallel robots, the energy required for picking up or releasing is directly related to the geometric position of the links between the cables and the final effector. This article evaluates the configuration of a cable driven parallel robot with three degrees of freedom, and a rectangular final effector. For this reason the kinematics are analyzed with a Jacobian matrix using Screws theory considering different linkage points. With the kinetic energy known it is possible to find a proper location guarantying the lowest energy consumption. All calculations are done in a MATLAB and the results are corroborated with the Adams View 2017.2 simulation software.

Original languageEnglish
Title of host publication4th IEEE Colombian Conference on Automatic Control
Subtitle of host publicationAutomatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
EditorsJose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538669624
DOIs
StatePublished - Oct 2019
Event4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia
Duration: 15 Oct 201918 Oct 2019

Publication series

Name4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country/TerritoryColombia
CityMedellin
Period15/10/1918/10/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

  • Adams View
  • Cable Driven Parallel Robot
  • Jacobean Matrix
  • MATLAB
  • Theory of Screws

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