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.
|Title of host publication||4th IEEE Colombian Conference on Automatic Control|
|Subtitle of host publication||Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings|
|Editors||Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - Oct 2019|
|Event||4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia|
Duration: 15 Oct 2019 → 18 Oct 2019
|Name||4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings|
|Conference||4th IEEE Colombian Conference on Automatic Control, CCAC 2019|
|Period||15/10/19 → 18/10/19|
Bibliographical noteFunding Information:
ACKOWLEDGMENT This research was supported in part by the Spanish Government Projects under Grant DPI2014-57220-C2-1-P, Grant PGC2018-095939-B-100, in part by the ”RoboCity2030 DIH-CM Madrid Robotic Digital Innovation Hub, S2018/NMT-4331 and funded by the ”Programas Actividades I+D en la Comunidad de Madrid”, in part by Structural Funds of the EU and in part by the GIIRA research group at Universidad Politécnica Salesiana, Ecuador. We want to thank Professor José Alex Restrepo at the Universidad Técnica del Norte for his valuable collaboration in the final edition of this paper.
© 2019 IEEE.
- Adams View
- Cable Driven Parallel Robot
- Jacobean Matrix
- Theory of Screws