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

doi:10.1109/CCAC.2019.8921200

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

Energy Research Group (GIE)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
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.
ISBN (Electronic)	9781538669624
DOIs	https://doi.org/10.1109/CCAC.2019.8921200
State	Published - Oct 2019
Event	4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duration: 15 Oct 2019 → 18 Oct 2019

Publication series

Name	4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference	4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country/Territory	Colombia
City	Medellin
Period	15/10/19 → 18/10/19

Bibliographical note

Funding 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.

Publisher Copyright:
© 2019 IEEE.

Keywords

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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/CCAC.2019.8921200

Cite this

Carpio, M. A., Astudillo, R. E., Aller, J. M., Saltaren, R. J., Rodriguez, A., Portilla, G. A., & Cely, J. S. (2019). Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. In J. Garcia-Tirado, D. Munoz-Durango, H. Alvarez, & H. Botero-Castro (Eds.), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings [8921200] (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2019.8921200

Carpio, Marco A. ; Astudillo, Raul E. ; Aller, Jose M. ; Saltaren, Roque J. ; Rodriguez, Alejandro ; Portilla, Gerardo A. ; Cely, Juan S. / Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. editor / Jose Garcia-Tirado ; Diego Munoz-Durango ; Hernan Alvarez ; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

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

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.",

keywords = "Adams View, Cable Driven Parallel Robot, Jacobean Matrix, MATLAB, Theory of Screws",

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Carpio, MA, Astudillo, RE, Aller, JM, Saltaren, RJ, Rodriguez, A, Portilla, GA & Cely, JS 2019, Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. in J Garcia-Tirado, D Munoz-Durango, H Alvarez & H Botero-Castro (eds), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings., 8921200, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 4th IEEE Colombian Conference on Automatic Control, CCAC 2019, Medellin, Colombia, 15/10/19. https://doi.org/10.1109/CCAC.2019.8921200

Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. / Carpio, Marco A.; Astudillo, Raul E.; Aller, Jose M.; Saltaren, Roque J.; Rodriguez, Alejandro; Portilla, Gerardo A.; Cely, Juan S.

4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. ed. / Jose Garcia-Tirado; Diego Munoz-Durango; Hernan Alvarez; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. 8921200 (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Carpio, Marco A.

AU - Astudillo, Raul E.

AU - Aller, Jose M.

AU - Saltaren, Roque J.

AU - Rodriguez, Alejandro

AU - Portilla, Gerardo A.

AU - Cely, Juan S.

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N2 - 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.

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Carpio MA, Astudillo RE, Aller JM, Saltaren RJ, Rodriguez A, Portilla GA et al. Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. In Garcia-Tirado J, Munoz-Durango D, Alvarez H, Botero-Castro H, editors, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. 8921200. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). https://doi.org/10.1109/CCAC.2019.8921200

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

Abstract

Publication series

Conference

Bibliographical note

Keywords

UN SDGs

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