TY - GEN
T1 - Collision free force closure workspace determination of reconfigurable planar cable driven parallel robot
AU - Wang, Bingyao
AU - Zi, Bin
AU - Qian, Sen
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/29
Y1 - 2016/8/29
N2 - This paper considers the problem of Collision Free Force Closure Workspace (CFFCW) determination for Reconfigurable Planar Cable-Driven Parallel Robots (RPCDPRs). The cluttered obstacles in environment and the radiate cable structure make this problem highly nontrivial. Firstly, the simplified model of general RPCDPR that with cluttered environment is proposed. Then, the critical support lines of obstacles together with the topological constraint of RPCDPRs are adopted to find the Collision-Free Area (CFA) from multi-obstacle environment. And inspired by grasps with friction, an algorithm that based on convexhull and convex hull mapping method is used to deal with the motion ranges of cable and CFFCW of RPCDPRs. Finally, the algorithm is demonstrated on several types of RPCDPRs and environments. The simulation results show that the proposed approach can effectively detect the CFFCW of RPCDPRs.
AB - This paper considers the problem of Collision Free Force Closure Workspace (CFFCW) determination for Reconfigurable Planar Cable-Driven Parallel Robots (RPCDPRs). The cluttered obstacles in environment and the radiate cable structure make this problem highly nontrivial. Firstly, the simplified model of general RPCDPR that with cluttered environment is proposed. Then, the critical support lines of obstacles together with the topological constraint of RPCDPRs are adopted to find the Collision-Free Area (CFA) from multi-obstacle environment. And inspired by grasps with friction, an algorithm that based on convexhull and convex hull mapping method is used to deal with the motion ranges of cable and CFFCW of RPCDPRs. Finally, the algorithm is demonstrated on several types of RPCDPRs and environments. The simulation results show that the proposed approach can effectively detect the CFFCW of RPCDPRs.
KW - collision free force closure workspace
KW - grasp
KW - reconfigurable cable-driven robots
UR - http://www.scopus.com/inward/record.url?scp=84988961963&partnerID=8YFLogxK
U2 - 10.1109/ACIRS.2016.7556182
DO - 10.1109/ACIRS.2016.7556182
M3 - Conference article published in proceeding or book
AN - SCOPUS:84988961963
T3 - Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
SP - 26
EP - 30
BT - Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
Y2 - 20 July 2016 through 22 July 2016
ER -