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Article

Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator

1
Centro de Automática y Robótica, Universidad Politécnica de Madrid, C/José Gutiérrez Abascal 2, 28006 Madrid, Spain
2
Grupo de Investigación en Interacción Robótica y Automática, Universidad Politécnica Salesiana, Calle Turuhuayco 3-69 y Calle Vieja, 10150 Cuenca, Ecuador
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(9), 2765; https://doi.org/10.3390/s18092765
Received: 23 May 2018 / Revised: 17 August 2018 / Accepted: 20 August 2018 / Published: 22 August 2018
(This article belongs to the Section Physical Sensors)
Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform’s internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results. View Full-Text
Keywords: cable robot; reconfigurable platform; kinematic redundancy; parallel manipulator cable robot; reconfigurable platform; kinematic redundancy; parallel manipulator
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MDPI and ACS Style

Rodriguez-Barroso, A.; Saltaren, R.; Portilla, G.A.; Cely, J.S.; Carpio, M. Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator. Sensors 2018, 18, 2765. https://doi.org/10.3390/s18092765

AMA Style

Rodriguez-Barroso A, Saltaren R, Portilla GA, Cely JS, Carpio M. Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator. Sensors. 2018; 18(9):2765. https://doi.org/10.3390/s18092765

Chicago/Turabian Style

Rodriguez-Barroso, Alejandro, Roque Saltaren, Gerardo A. Portilla, Juan S. Cely, and Marco Carpio. 2018. "Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator" Sensors 18, no. 9: 2765. https://doi.org/10.3390/s18092765

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