research-article

Generalized Modeling of Multilink Cable-Driven Manipulators With Arbitrary Routing Using the Cable-Routing Matrix

Authors:

Darwin Lau,

Denny Oetomo,

Saman K. HalgamugeAuthors Info & Claims

IEEE Transactions on Robotics, Volume 29, Issue 5

Pages 1102 - 1113

https://doi.org/10.1109/TRO.2013.2264866

Published: 01 October 2013 Publication History

Abstract

Multilink cable-driven manipulators offer the compactness of serial mechanisms while benefitting from the advantages of cable-actuated systems. One major challenge in modeling multilink cable-driven manipulators is that the number of combinations in the possible cable-routing increases exponentially with the number of rigid bodies. In this paper, a generalized model for multilink cable-driven serial manipulators with an arbitrary number of links that allow for arbitrary cable routing is presented. Introducing the cable-routing matrix (CRM), it is shown that all possible cable routing can be encapsulated into a single representation. The kinematics and dynamics for the generalized model are derived with respect to the CRM. The advantages of the proposed representation include the simplicity and convenience in modeling and analysis, where all cable routing is inherently considered in a single model. To illustrate this, the inverse dynamics analysis is performed for two example systems: a 2-link 4-DoF manipulator that is actuated by 6 cables and an 8-link 24-DoF mechanism actuated by 76 cables. The results show the validity and scalability of the generalized formulation, allowing for complex systems with arbitrary cable routing to be modeled and analyzed.

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Li YSong ALai JLi HShi K(2023)Wrench Feasibility Workspace Analysis and Adaptive Rotation Algorithm of Cable-Driven Upper Limb Rehabilitation RobotProceedings of the 2023 9th International Conference on Robotics and Artificial Intelligence10.1145/3637843.3637844(32-37)Online publication date: 17-Nov-2023
https://dl.acm.org/doi/10.1145/3637843.3637844
Wang YYang GZheng TShen WFang ZZhang C(2022)Tension reduction method for a modular cable-driven robotic arm with co-shared cablesIntelligent Service Robotics10.1007/s11370-021-00399-y15:1(27-38)Online publication date: 1-Mar-2022
https://dl.acm.org/doi/10.1007/s11370-021-00399-y
Lei M(2020)Dynamics of Cable Driven Parallel Manipulator Allowing Cable Wrapping over Rigid Link2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM43001.2020.9158903(215-221)Online publication date: 6-Jul-2020
https://dl.acm.org/doi/10.1109/AIM43001.2020.9158903
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cover image IEEE Transactions on Robotics

IEEE Transactions on Robotics Volume 29, Issue 5

October 2013

274 pages

ISSN:1552-3098

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IEEE Press

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Published: 01 October 2013

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Li YSong ALai JLi HShi K(2023)Wrench Feasibility Workspace Analysis and Adaptive Rotation Algorithm of Cable-Driven Upper Limb Rehabilitation RobotProceedings of the 2023 9th International Conference on Robotics and Artificial Intelligence10.1145/3637843.3637844(32-37)Online publication date: 17-Nov-2023
https://dl.acm.org/doi/10.1145/3637843.3637844
Wang YYang GZheng TShen WFang ZZhang C(2022)Tension reduction method for a modular cable-driven robotic arm with co-shared cablesIntelligent Service Robotics10.1007/s11370-021-00399-y15:1(27-38)Online publication date: 1-Mar-2022
https://dl.acm.org/doi/10.1007/s11370-021-00399-y
Lei M(2020)Dynamics of Cable Driven Parallel Manipulator Allowing Cable Wrapping over Rigid Link2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM43001.2020.9158903(215-221)Online publication date: 6-Jul-2020
https://dl.acm.org/doi/10.1109/AIM43001.2020.9158903
Sanjeevi NVashista V(2019)Effect of Cable Co-sharing on the Workspace of a cable-Driven Serial Chain ManipulatorProceedings of the 2019 4th International Conference on Advances in Robotics10.1145/3352593.3352665(1-6)Online publication date: 2-Jul-2019
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Abbasnejad GEden JLau D(2019)Generalized Ray-Based Lattice Generation and Graph Representation of Wrench-Closure Workspace for Arbitrary Cable-Driven RobotsIEEE Transactions on Robotics10.1109/TRO.2018.287139535:1(147-161)Online publication date: 1-Feb-2019
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Dalvand MNahavandi SHowe R(2018)An Analytical Loading Model for $n$ -Tendon Continuum RobotsIEEE Transactions on Robotics10.1109/TRO.2018.283854834:5(1215-1225)Online publication date: 1-Oct-2018
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Trendel SChan YKharchenko AHostetrler RKnoll ALau D(2018)CARDSFlow: An End-to-End Open-Source Physics Environment for the Design, Simulation and Control of Musculoskeletal Robots2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)10.1109/HUMANOIDS.2018.8624940(245-250)Online publication date: 6-Nov-2018
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Li JAndrews SBirkas KKry PMueller SCoros SFang N(2017)Task-based design of cable-driven articulated mechanismsProceedings of the 1st Annual ACM Symposium on Computational Fabrication10.1145/3083157.3083161(1-12)Online publication date: 12-Jun-2017
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Eden JTan YLau DOetomo D(2016)On the positive output controllability of linear time invariant systemsAutomatica (Journal of IFAC)10.1016/j.automatica.2016.04.01771:C(202-209)Online publication date: 1-Sep-2016
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Lau DOetomo DHalgamuge S(2015)Inverse Dynamics of Multilink Cable-Driven Manipulators With the Consideration of Joint Interaction Forces and MomentsIEEE Transactions on Robotics10.1109/TRO.2015.239449831:2(479-488)Online publication date: 1-Apr-2015
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