On the ability of a cable-driven robot to generate a prescribed set of wrenches

ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED SET OF WRENCHES (DETC2008-49518) Samuel Bouchard, Clément Gosselin, Brian Moore [email_address] [email_address] [email_address] ASME IDETC-CIE August 6th 2008, New York City

Objective
Ability to generate a set of wrenches at the platform considering:
Minimum and maximum tension
n cables, d degrees of freedom, n>=d
Suspended or fully constrained

Different wrenches for different tasks Skycam Photo: jamd.com Tokyo University Wire Haptic Interface Photo: Prof. Takeda, Tokyo Institute of Technology

General Concept

Plan of the presentation
Nature of A.
Representations and method to define A .
Relationship between A and T .

Nature of A

Wrench equation
Solve
considering the constraint:

Nature of A

Zonotope, definition 1

Zonotope, definition 2

Zonotope, definition 3 A

Examples
[Animations]

A in the litterature [Pham et al., 2005] [Bosscher et al.,2004]

How to obtain A ?

Representations V-Representation H-Representation

Algorithms No H Hyperplane shifting Yes H or V Convex hull Iterative? Representations Method

Convex Hull

Convex Hull
where

Hyperplane shifting

Relation between A and T

Set of inequalities
T is a single wrench:

Set of inequalities
T is a single wrench:
T is a set with many wrenches:

Future work
Improve hyperplane shifting method
Optimal tension distribution

On the ability of a cable-driven robot to generate a prescribed set of wrenches

by Samuel Bouchard on Aug 07, 2008

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On the ability of a cable-driven robot to generate a prescribed set of wrenches — Presentation Transcript