A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects

Clément Gosselin; Samuel Bouchard

doi:10.20965/ijat.2010.p0372

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IJAT Vol.4 No.4 pp. 372-379

doi: 10.20965/ijat.2010.p0372

(2010)

Paper:

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A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects

Clément Gosselin and Samuel Bouchard

Laboratoire de Robotique, Département de Génie Mécanique, Université Laval Québec, 1065 avenue de la médecine, Québec, Qc, Canada

Received:

March 16, 2010

Accepted:

April 27, 2010

Published:

July 5, 2010

Keywords:

parallel mechanism, cable-driven parallel mechanism, appearance modelling

Abstract

This paper presents a gravity-powered passive onedof mechanism used to extend the workspace of a six-degree-of-freedom cable-driven parallel mechanism. The passive mechanism is mounted on the platform of the cable-driven mechanism in order to increase the useful workspace of the system. The application that stimulated the development of the mechanism is a system for capturing the light field of an object to reproduce the appearance of artefacts. The concept is based on a six-degree-of-freedom (6-dof) cable-driven parallel mechanism that is used to move a high resolution camera around the object. The geometry of the mechanism is optimized in order to cover a workspace defined as a hemisphere centred on the object.

Cite this article as:

C. Gosselin and S. Bouchard, “A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects,” Int. J. Automation Technol., Vol.4 No.4, pp. 372-379, 2010.

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References

[1] M. Arsenault and R. Boudreau, “Synthesis of planar parallel mechanisms while considering workspace, dexterity, stiffness and singularity avoidance,” Journal of Mechanical Design, 128, pp. 69-78, Jan. 2006.
[2] P. Bosscher, “A concept for rapidly-deployable cable robot search and rescue systems,” In Proceedings of the 2005 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference.
[3] S. Bouchard and C. Gosselin, “Workspace optimization of a very large cable-driven parallel mechanism for a radiotelescope application,” In Proceedings of the 2007 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2007.
[4] S. Bouchard and C. M. Gosselin, “Kinematic sensitivity of a very large cable-driven parallel mechanism,” In Proceedings of the 2006 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2006.
[5] L. L. Cone, “Skycam, an aerial robotic camera system,” Byte, pp. 122-132, Oct. 1985.
[6] D. Daney, “Optimal measurement configurations for Gough platform calibration,” In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 147-152, May 2002.
[7] J.-D. Deschênes, P. Lambert, S. Perreault, N. Martel-Brisson, N. Zoso, A. Zaccarin, P. Hébert, S. Bouchard, and C. Gosselin, “A cable-driven parallel mechanism for capturing object appearance from multiple viewpoints,” In Proceedings of the 6th International Conference on 3-D Digital Imaging and Modeling, Montréal, Québec, Canada, August 21-23, 2007.
[8] A. Fattah and S. K. Agrawal, “Design of cable-suspended planar parallel robots for an optimal workspace,” Oct. 2002.
[9] C. Gosselin and A. Hadj-Messaoud, “Automatic planning of smooth trajectories for pick-and-place operations,” ASME Journal of Mechanical Design, 115(3), pp. 450-456, Sept. 1993.
[10] M. Gouttefarde, J.-P. Merlet, and D. Daney, “Wrench-feasible workspace of parallel cable-driven mechanisms,” In Proceedings of the IEEE International Conference on Robotics and Automation.
[11] S. Landsberger and T. Sheridan, “A minimal, minimal linkage: The tension-compression parallel link manipulator,” Robotics, Mechatronics and Manufacturing Systems, pp. 81-88, 1993.
[12] F. J. Michael, N. and V. Kumar, “Controlling a team of ground robots via an aerial robot,” In Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, November 2007.
[13] S. Perreault and C. Gosselin, “Cable-driven parallel mechanisms: Application to a locomotion interface,” In Proceedings of the 2007 International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2007.
[14] P. Renaud, N. Andreff, J.-M. Lavest, and M. Dhome, “Simplifying the kinematic calibration of parallel mechanisms using vision-based metrology,” IEEE Transactions on Robotics and Automation, 22, pp. 12-22, Feb 2006.
[15] A. T. Riechel, P. Bosscher, H. Lipkin, and I. Ebert-Uphoff, “Concept paper: Cable-driven robots for use in hazardous environments,” In Proceedings of the 10th International Topical Meeting on Robotics and Remote Systems for Hazardous Environments.
[16] A. T. Riechel and I. Ebert-Uphoff, “Force-feasible workspace analysis for underconstrained, point-mass cable robots,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 5, pp. 4956-4962, Apr. 2004.
[17] E. Stump and V. Kumar, “Workspace delienation of cable-actuated parallel manipulators,” In Proceedings of the 2004 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2004.
[18] S. E. Theodorakatos, D. and V. Kumar, “Kinematics and pose estimation for cable-actuated parallel manipulators,” In ASME International Design Engineering Technical Conferences, September 4-7 2007.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Arsenault and R. Boudreau, “Synthesis of planar parallel mechanisms while considering workspace, dexterity, stiffness and singularity avoidance,” Journal of Mechanical Design, 128, pp. 69-78, Jan. 2006.

[2] [2] P. Bosscher, “A concept for rapidly-deployable cable robot search and rescue systems,” In Proceedings of the 2005 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference.

[3] [3] S. Bouchard and C. Gosselin, “Workspace optimization of a very large cable-driven parallel mechanism for a radiotelescope application,” In Proceedings of the 2007 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2007.

[4] [4] S. Bouchard and C. M. Gosselin, “Kinematic sensitivity of a very large cable-driven parallel mechanism,” In Proceedings of the 2006 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2006.

[5] [5] L. L. Cone, “Skycam, an aerial robotic camera system,” Byte, pp. 122-132, Oct. 1985.

[6] [6] D. Daney, “Optimal measurement configurations for Gough platform calibration,” In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 147-152, May 2002.

[7] [7] J.-D. Deschênes, P. Lambert, S. Perreault, N. Martel-Brisson, N. Zoso, A. Zaccarin, P. Hébert, S. Bouchard, and C. Gosselin, “A cable-driven parallel mechanism for capturing object appearance from multiple viewpoints,” In Proceedings of the 6th International Conference on 3-D Digital Imaging and Modeling, Montréal, Québec, Canada, August 21-23, 2007.

[8] [8] A. Fattah and S. K. Agrawal, “Design of cable-suspended planar parallel robots for an optimal workspace,” Oct. 2002.

[9] [9] C. Gosselin and A. Hadj-Messaoud, “Automatic planning of smooth trajectories for pick-and-place operations,” ASME Journal of Mechanical Design, 115(3), pp. 450-456, Sept. 1993.

[10] [10] M. Gouttefarde, J.-P. Merlet, and D. Daney, “Wrench-feasible workspace of parallel cable-driven mechanisms,” In Proceedings of the IEEE International Conference on Robotics and Automation.

[11] [11] S. Landsberger and T. Sheridan, “A minimal, minimal linkage: The tension-compression parallel link manipulator,” Robotics, Mechatronics and Manufacturing Systems, pp. 81-88, 1993.

[12] [12] F. J. Michael, N. and V. Kumar, “Controlling a team of ground robots via an aerial robot,” In Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, November 2007.

[13] [13] S. Perreault and C. Gosselin, “Cable-driven parallel mechanisms: Application to a locomotion interface,” In Proceedings of the 2007 International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2007.

[14] [14] P. Renaud, N. Andreff, J.-M. Lavest, and M. Dhome, “Simplifying the kinematic calibration of parallel mechanisms using vision-based metrology,” IEEE Transactions on Robotics and Automation, 22, pp. 12-22, Feb 2006.

[15] [15] A. T. Riechel, P. Bosscher, H. Lipkin, and I. Ebert-Uphoff, “Concept paper: Cable-driven robots for use in hazardous environments,” In Proceedings of the 10th International Topical Meeting on Robotics and Remote Systems for Hazardous Environments.

[16] [16] A. T. Riechel and I. Ebert-Uphoff, “Force-feasible workspace analysis for underconstrained, point-mass cable robots,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 5, pp. 4956-4962, Apr. 2004.

[17] [17] E. Stump and V. Kumar, “Workspace delienation of cable-actuated parallel manipulators,” In Proceedings of the 2004 ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Sep. 2004.

[18] [18] S. E. Theodorakatos, D. and V. Kumar, “Kinematics and pose estimation for cable-actuated parallel manipulators,” In ASME International Design Engineering Technical Conferences, September 4-7 2007.