Cable Robot

Cable-driven robots (called as cable-suspended robots and wire-driven robots as well) are a type of parallel manipulators in which flexible cables are used as actuators. One end of each cable is reeled around a rotor twisted by a motor, and the other end is connected to the end-effector. One famous example of cable robots is SKYCAM which is used to move a suspended camera in stadiums. Cables are much lighter than rigid linkages of a serial or parallel robot, and very long cables can be used without making the mechanism massive. As a result, the end-effector of a cable robot can achieve high accelerations and velocities and work in a very large workspace (e.g. a stadium). Numerous engineering articles have studied the kinematics and dynamics of cable robots. Dynamic analysis of cable robots is not the same as that of other parallel robots because cables can only pull an object but they cannot push. Therefore, the manipulator is able to perform a task only if the force in all cables are non-negative. Accordingly, the workspace of cable robots is defined as a region in space where the end-effector is able to exert the required wrench (force and moment vectors) to the surroundings while all cables are in tension (non-negative forces). Many research works have focused on workspace analysis and optimization of cable robots. Workspace and controllability of cable robots can be enhanced by adding cables to the structure of the robot. Consequently, redundancy plays a key role in the design of cable robots.

Publication

  1. Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot , In Robotics and Mechatronics (ICROM), 5th RSI International Conference on, IEEE , 2017
  2. Sensory Feedback Performance Improvement on RoboCab: An Experimental Approach to Wire Driven Parallel Robot , In Robotics and Mechatronics (ICROM), 4th RSI International Conference on, p. 477-482, IEEE , 2016
  3. Visual Servoing in a Cable Robot Using Microsoft Kinect v2 Sensor , In Robotics and Mechatronics (ICROM), 4th RSI International Conference on, ICRoM, pp. 560-565, IEEE , 2016
  4. Multi-Objective Optimization Design of Spatial Cable-Driven Parallel Robot Equipped with a Serial Manipulator , Modares Mechanical Engineering, Vol. 16, No. 1, pp. 29-40, (in Persian) , 2016
  5. Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator , In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 001-006, IEEE , 2015

Research Experience

  1. Design and Control Analysis of Cable Parallel Robot Simulator , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2016
  2. Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2016
  3. Linear, Nonlinear, Robust and Adaptive Control of a 3 DoF Cable Driven Parallel Robot , Faculty of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2015

Invention/Patent

  1. RoboCab: Cable Driven Parallel Robot , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Isfahan (Iran) , 2016