Wire robots consist of a movable end-effector which is connected to the machine frame by motor driven wires. Since wires can transmit only tension, positive wire forces have to be ensured. During workspace analysis, the wires forces need to be calculated. Discrete methods do not produce satisfying results, since intermediate points on the discrete calculation grids are neglected. Using intervals instead of points leads to reliable results. Formulating the analysis problem as a Constraint-Satisfaction-Problem (CSP) allows convenient transition to the synthesis problem, i.e. to find suitable designs for practical applications. In this paper, two synthesis approaches are employed: Design-to-Workspace (i.e. calculation of an optimal robot layout for a given workspace) and an extension called Design-to-Task (i.e. calculation of the optimal robot for a specific task). To solve these optimization problems, the paper presents approaches to combine the reliability and robustness of interval-based computations with the effectiveness of available optimizer implementations.
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ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4904-0
PROCEEDINGS PAPER
Design Approaches for Wire Robots
Tobias Bruckmann,
Tobias Bruckmann
University of Duisburg-Essen, Duisburg, Germany
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Lars Mikelsons,
Lars Mikelsons
University of Duisburg-Essen, Duisburg, Germany
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Thorsten Brandt,
Thorsten Brandt
University of Duisburg-Essen, Duisburg, Germany
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Manfred Hiller,
Manfred Hiller
University of Duisburg-Essen, Duisburg, Germany
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Dieter Schramm
Dieter Schramm
University of Duisburg-Essen, Duisburg, Germany
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Tobias Bruckmann
University of Duisburg-Essen, Duisburg, Germany
Lars Mikelsons
University of Duisburg-Essen, Duisburg, Germany
Thorsten Brandt
University of Duisburg-Essen, Duisburg, Germany
Manfred Hiller
University of Duisburg-Essen, Duisburg, Germany
Dieter Schramm
University of Duisburg-Essen, Duisburg, Germany
Paper No:
DETC2009-86720, pp. 25-34; 10 pages
Published Online:
July 29, 2010
Citation
Bruckmann, T, Mikelsons, L, Brandt, T, Hiller, M, & Schramm, D. "Design Approaches for Wire Robots." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B. San Diego, California, USA. August 30–September 2, 2009. pp. 25-34. ASME. https://doi.org/10.1115/DETC2009-86720
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