This paper presents a new cable-suspended robot. It is a 7-cable spatial design with a closed-form forward pose kinematics solution. Applications include automated machining, construction, and sculpting. This paper presents two new ideas. First, an independent, passive, six-string-pot-based Cartesian metrology system was built and tested since length measurements through the active drive system may be inaccurate for large-scale systems. Second, we introduce a new active cable tensioning approach wherein we control the displacement of a physical spring in-line with one of the active drive cables in attempt to ensure only positive cable tensions in all active cables. This is compared with an existing particular/homogeneous tensioning solution approach. Simulation examples are presented in this paper; we are currently building the proposed system for future evaluation work.
- Design Engineering Division and Computers and Information in Engineering Division
Seven-DOF Cable-Suspended Robot With Independent Metrology
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Williams, RL, II, Snyder, B, Albus, JS, & Bostelman, RV. "Seven-DOF Cable-Suspended Robot With Independent Metrology." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 317-325. ASME. https://doi.org/10.1115/DETC2004-57125
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