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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	4th IEEE Colombian Conference on Automatic Control
Subtítulo de la publicación alojada	Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
Editores	Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781538669624
DOI	https://doi.org/10.1109/CCAC.2019.8921200
Estado	Publicada - oct. 2019
Evento	4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duración: 15 oct. 2019 → 18 oct. 2019

Serie de la publicación

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

Conferencia

Conferencia	4th IEEE Colombian Conference on Automatic Control, CCAC 2019
País/Territorio	Colombia
Ciudad	Medellin
Período	15/10/19 → 18/10/19

Nota bibliográfica

Publisher Copyright:
© 2019 IEEE.

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 7: Energía asequible y no contaminante

Areas de Conocimiento del CACES

317A Electricidad y energía
417A Electrónica, automatización y sonido

Acceder al documento

10.1109/CCAC.2019.8921200

Otros archivos y enlaces

https://www.scopus.com/pages/publications/85077965886

Modelamiento, Diseño y Construcción de un Robot Paralelo Planar por Cables
Carpio Aleman, M. A. (Investigador principal), Gonzalez Alvarez, N. X. (Estudiante Investigador), Aller Castro, J. M. (Investigador Secundario), Zambrano Abad, J. C. (Investigador Secundario), Orozco Tupacyupanqui, W. H. (Investigador Secundario) & Calle Arevalo, L. A. (Investigador Secundario)
26/10/17 → 26/10/19
Proyecto: Investigación y Desarrollo

Citar esto

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. En 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 Artículo 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. et al. / 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",

author = "Carpio, \{Marco A.\} and Astudillo, \{Raul E.\} and Aller, \{Jose M.\} and Saltaren, \{Roque J.\} and Alejandro Rodriguez and Portilla, \{Gerardo A.\} and Cely, \{Juan S.\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 ; Conference date: 15-10-2019 Through 18-10-2019",

year = "2019",

month = oct,

doi = "10.1109/CCAC.2019.8921200",

language = "English",

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

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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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. En 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. et al.
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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

TY - GEN

T1 - Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement

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.

PY - 2019/10

Y1 - 2019/10

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.

AB - 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.

KW - Adams View

KW - Cable Driven Parallel Robot

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KW - MATLAB

KW - Theory of Screws

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M3 - Conference contribution

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T3 - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

BT - 4th IEEE Colombian Conference on Automatic Control

A2 - Garcia-Tirado, Jose

A2 - Munoz-Durango, Diego

A2 - Alvarez, Hernan

A2 - Botero-Castro, Hector

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th IEEE Colombian Conference on Automatic Control, CCAC 2019

Y2 - 15 October 2019 through 18 October 2019

ER -

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. En Garcia-Tirado J, Munoz-Durango D, Alvarez H, Botero-Castro H, editores, 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). doi: 10.1109/CCAC.2019.8921200

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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

ODS de las Naciones Unidas

Areas de Conocimiento del CACES

Acceder al documento

Otros archivos y enlaces

Huella

Proyectos

Modelamiento, Diseño y Construcción de un Robot Paralelo Planar por Cables

Citar esto