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Task-based design of cable-driven articulated mechanisms

Authors:

Sheldon Andrews,

Krisztian G. Birkas,

Paul G. KryAuthors Info & Claims

SCF '17: Proceedings of the 1st Annual ACM Symposium on Computational Fabrication

Article No.: 6, Pages 1 - 12

https://doi.org/10.1145/3083157.3083161

Published: 12 June 2017 Publication History

Abstract

We present a framework for the automatic design of articulated cable-driven mechanisms performing push andpick-and-place tasks. Provided an initial topology and task specification, our system optimizes the morphology and cable mechanisms such that the resulting mechanism can perform the desired task successfully. Optimizing for multiple tasks and multiple cables simultaneously is possible with our framework. At the core of our approach is an optimization algorithm that analyzes the kinematics of the design to evaluate the mechanism's ability to perform the task. Dynamical attributes, such as the ability to produce forces at the end effector, are also considered. Furthermore, this paper presents a novel approach for fast inverse kinematics using cable-driven mechanisms, which is used in the morphology optimization process. Several examples of mechanisms designed using our framework are presented. We also present results of physics based simulation, and evaluate 3D printed versions of an example mechanism.

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Cited By

Qi RKhajepour AMelek W(2022)Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven RobotsIEEE Transactions on Systems, Man, and Cybernetics: Systems10.1109/TSMC.2021.309165352:7(4069-4079)Online publication date: Jul-2022
https://doi.org/10.1109/TSMC.2021.3091653
Minagawa TOchiai Y(2021)A Case Study of Augmented Physical Interface by Foot Access with 3D Printed AttachmentDesign, User Experience, and Usability: Design for Diversity, Well-being, and Social Development10.1007/978-3-030-78224-5_22(315-332)Online publication date: 3-Jul-2021
https://doi.org/10.1007/978-3-030-78224-5_22
Ha SCoros SAlspach AKim JYamane K(2018)Computational co-optimization of design parameters and motion trajectories for robotic systemsThe International Journal of Robotics Research10.1177/0278364918771172(027836491877117)Online publication date: 5-Jun-2018
https://doi.org/10.1177/0278364918771172
Show More Cited By

Index Terms

Task-based design of cable-driven articulated mechanisms
1. Computing methodologies
  1. Computer graphics

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Published In

cover image ACM Conferences

SCF '17: Proceedings of the 1st Annual ACM Symposium on Computational Fabrication

June 2017

93 pages

ISBN:9781450349994

DOI:10.1145/3083157

General Chairs:
Stefanie Mueller
MIT CSAIL
,
Stelian Coros
CMU RI
,
Nicholas Fang
MIT MechE

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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New York, NY, United States

Publication History

Published: 12 June 2017

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NSERC
Tomlinson Scientist Awards
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SCF '17

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SIGGRAPH

SCF '17: ACM Symposium on Computational Fabrication

June 12 - 13, 2017

Massachusetts, Cambridge

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Cited By

Qi RKhajepour AMelek W(2022)Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven RobotsIEEE Transactions on Systems, Man, and Cybernetics: Systems10.1109/TSMC.2021.309165352:7(4069-4079)Online publication date: Jul-2022
https://doi.org/10.1109/TSMC.2021.3091653
Minagawa TOchiai Y(2021)A Case Study of Augmented Physical Interface by Foot Access with 3D Printed AttachmentDesign, User Experience, and Usability: Design for Diversity, Well-being, and Social Development10.1007/978-3-030-78224-5_22(315-332)Online publication date: 3-Jul-2021
https://doi.org/10.1007/978-3-030-78224-5_22
Ha SCoros SAlspach AKim JYamane K(2018)Computational co-optimization of design parameters and motion trajectories for robotic systemsThe International Journal of Robotics Research10.1177/0278364918771172(027836491877117)Online publication date: 5-Jun-2018
https://doi.org/10.1177/0278364918771172
Xu HKnoop ECoros SBächer M(2018)Bend-itACM Transactions on Graphics10.1145/3272127.327508937:6(1-15)Online publication date: 4-Dec-2018
https://dl.acm.org/doi/10.1145/3272127.3275089
Takahashi TOkuno H(2018)Design and Implementation of Programmable Drawing Automata based on Cam Mechanisms for Representing Spatial Trajectory2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2018.8594443(450-455)Online publication date: Oct-2018
https://doi.org/10.1109/IROS.2018.8594443
Aristidou ALasenby JChrysanthou YShamir A(2017)Inverse Kinematics Techniques in Computer Graphics: A SurveyComputer Graphics Forum10.1111/cgf.1331037:6(35-58)Online publication date: 29-Nov-2017
https://doi.org/10.1111/cgf.13310

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