Abstract
The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may be used to efficiently design different parallel mechanisms, and cable driven robots. By this measure, and for parallel manipulators, it is possible to visualize constant orientation workspace of the mechanism where the kinematic sensitivity is less than a desired value considered by the designer. For cable driven redundant robots, the controllable workspace is combined with the desired kinematic sensitivity property, to determine the so-called feasible kinematic sensitivity workspace of the robot. Three case studies are considered for the development of the idea and verification of the results, through which a conventional planar parallel manipulator, a redundant one and a cable driven robot is examined in detail. Finally, the paper provides some hints for the optimum design of the mechanisms under study by introducing the concept of minimum feasible kinematic sensitivity covering the whole workspace.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Here and throughout this paper, R and P stands respectively for a revolute and prismatic joint where the underlined joint is actuated.
References
Su, Y., Duan, B., Nan, R., Peng, B.: Development of a large parallel-cable manipulator for the feed-supporting system of a next-generation large radio telescope. J. Rob. Syst. 18(11), 633–643 (2001)
Dominjon, L., Perret, J., Lécuyer, A.: Novel devices and interaction techniques for human-scale haptics. Visual Comput. 23(4), 257–266 (2007)
Geng, Z., Haynes, L.: Kinematic configuration of a stewart platform and its application to six degree of freedom pose measurements. Rob. Comput. Integr. Manuf. 11(1), 23–34 (1994)
Tadokoro, S., Verhoeven, R., Hiller, M., Takamori, T.: A portable parallel manipulator for search and rescue at large-scale urban earthquakes and an identification algorithm for the installation in unstructured environments. In: Proceedings of the International Conference on Intelligent Robots and Systems (IROS’99), vol. 2, pp. 1222–1227 (1999).
Williams II, R., Albus, J., Bostelman, R.: 3D cable-based cartesian metrology system. J. Rob. Syst. 21(5), 237–257 (2004)
Rosati, G., Gallina, P., Masiero, S.: Design, implementation and clinical tests of a wire-based robot for neurorehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15(4), 560–569 (2007)
Morizono, T., Kurahashi, K., Kawamura, S.: Realization of a virtual sports training system with parallel wire mechanism. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’ 97), vol. 4, pp. 3025–3030 (1997).
Higuchi, T., Ming, A., Jiang-Yu, J.: Application of multi-dimensional wire cranes in construction. In: Proceedings of the 5th International Symposium on Robotics in, Construction (ISRC88), pp. 661–668 (1988).
Hamid, S., Simaan, N.: Design and synthesis of wire-actuated universal-joint wrists for surgical applications. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’09), pp. 1807–1813 (2009).
Ebert-Uphoff, I., Voglewede, P.: On the connections between cable-driven robots, parallel manipulators and grasping. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’04), vol. 5, pp. 4521–4526 (2004).
Barrette, G., Gosselin, C.: Determination of the dynamic workspace of cable-driven planar parallel mechanisms. J. Mech. Des. 127, 242 (2005)
Fattah, A., Agrawal, S., et al.: On the design of cable-suspended planar parallel robots. J. Mech. Des. 127, 1021 (2005)
Verhoeven, R., Hiller, M.: Estimating the controllable workspace of tendon-based stewart platforms. Advances in Robot Kinematics, pp. 277–284. Kluwer Academic Publishers, Portoroz (2000).
Yoshikawa, T.: Analysis and control of robot manipulators with redundancy. In: Proceedings of the First International Symposium Robotics Research, pp. 735–747. MIT Press Cambridge, MA (1984).
Salisbury, J., Craig, J.: Articulated hands. Int. J. Rob. Res. 1(1), 4–17 (1982)
Cardou, P., Bouchard, S., Gosselin, C.: Kinematic-sensitivity indices for dimensionally nonhomogeneous jacobian matrices. IEEE Trans. Rob. 26(1), 166–173 (2010)
Saadatzi, M., Masouleh, M., Taghirad, H., Gosselin, C., Cardou, P.: On the optimum design of 3-RPR parallel mechanisms. In: Proceedings of the 19th Iranian Conference on, Electrical Engineering (ICEE’11), pp. 1–6 (2011).
Saadatzi, M., Tale Masouleh, M., Taghirad, H., Gosselin, C., Cardou, P.: Geometric analysis of the kinematic sensitivity of planar parallel mechanisms. Trans. Can. Soc. Mech. Eng. 35(4), 477 (2011)
Moore, R.: Interval Analysis, vol. 60. Prentice-Hall, Englewood Cliffs (1966)
Rump, S.: Intlab-interval laboratory. Citeseer (1998).
Hao, F., Merlet, J.: Multi-criteria optimal design of parallel manipulators based on interval analysis. Mech. Mach. Theory 40(2), 157–171 (2005)
Merlet, J.: Interval analysis and robotics. Rob. Res. 147–156 (2011).
Merlet, J.: Solving the forward kinematics of a gough-type parallel manipulator with interval analysis. Int. J. Rob. Res. 23(3), 221–235 (2004)
Oetomo, D., Daney, D., Shirinzadeh, B., Merlet, J.: Certified workspace analysis of 3RRR planar parallel flexure mechanism. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’08), pp. 3838–3843 (2008).
Moore, R., Kearfott, R., Cloud, M.: Introduction to interval analysis. Society for Industrial Mathematics, Philadelphia (2009)
Jaulin, L.: Applied Interval Analysis: with examples in parameter and state estimation, robust control and robotics, vol. 1. Springer Verlag, UK (2001)
Saadatzi, M., Tale Masouleh, M., Taghirad, H., Gosselin, C., Teshnehlab, M.: Multi-objective scale independent optimization of 3-rpr parallel mechanisms. In Proceedings of the IFToMM, In (2011)
Husty, M., Gosselin, C.: On the singularity surface of planar 3-rpr parallel mechanisms. Mech. Based Des. Struct. Mach. 36(4), 411–425 (2008)
Loloei, A.Z., Taghirad, H.: Trans. Can. Soc. Mech, Eng (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Khalilpour, S.A., Loloei, A.Z., Taghirad, H.D., Masouleh, M.T. (2013). Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis. In: Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31988-4_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-31988-4_15
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31987-7
Online ISBN: 978-3-642-31988-4
eBook Packages: EngineeringEngineering (R0)