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Winch-integrated mobile end-effector for a cable-driven parallel robot with auto-installation

Title
Winch-integrated mobile end-effector for a cable-driven parallel robot with auto-installation
Authors
Wang, DeriAhn, JeongdoJung, JinwooSeon, Jeong-AnPark, Jong-OhKo, Seong YoungPark, Sukho
DGIST Authors
Park, Sukho
Issue Date
2017
Citation
International Journal of Control, Automation and Systems, 1-9
Type
Article
Article Type
Article in Press
Keywords
Automatic Cable InstallationCable DrivenCable InstallationsCablesElectric Power TransmissionEnd EffectorsHeavy WorkloadsIntegrated Mobile End EffectorLarge WorkspaceMain FramesParallel RobotsPay Load CapacityPlanar Cable Driven Parallel RobotPower TransmissionRobotsVariable PowerVariable Power Transmission SystemWinches
ISSN
1598-6446
Abstract
A cable-driven parallel robot (CDPR) is a robot in which rigid links are replaced with cables, unlike conventional serial or parallel robots. The main advantages of a CDPR are a relatively large workspace, high payload capacity, and high speed. Given the advantages of CDPR, it has recently been widely studied in the field of monitoring, construction, cleaning, and even rehabilitation. One of the major disadvantages of using a conventional CDPR is that the cables should be manually installed to the main frame prior to the operation of CDPR. This task can sometimes be dangerous and requires a heavy workload. This paper describes the development of a planar CDPR in which cables can be installed automatically using a winch-integrated end?effector that can move as a mobile robot. In addition, the paper describes a variable power transmission winch that changes the path of a power of actuator between a wheel and a winch. Using this mechanism, the number of main actuators and size of the CDPR can be significantly reduced. In this work, our first prototype is developed. A series of experiments demonstrates the viability of automatically installing cables using the proposed mechanism. ? 2017 Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany
URI
http://hdl.handle.net/20.500.11750/4553
DOI
10.1007/s12555-016-0398-7
Publisher
Institute of Control, Robotics and Systems
Related Researcher
  • Author Park, Suk Ho Biomedical Micro/Nano Robotics Lab
  • Research Interests Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
Files:
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Collection:
ETC1. Journal Articles


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