JRM Vol.28 No.3 pp. 386-396
doi: 10.20965/jrm.2016.p0386


Cable Wrapping Phenomenon in Cable-Driven Parallel Manipulators

Man Cheong Lei and Denny Oetomo

Department of Mechanical Engineering, The University of Melbourne
Parkville, VIC 3010, Australia

November 4, 2015
March 12, 2016
June 20, 2016
cable to rigid link interference, cable wrapping, cable-driven parallel manipulator, cable robotics

Cable Wrapping Phenomenon in Cable-Driven Parallel Manipulators

Cable wrapping phenomenon of cable robot

In the study of cable-driven parallel manipulators (CDPMs), the interference between the cable and the rigid link(s) of the mechanisms have generally been excluded when the workspace is considered. This leads to the loss of perfectly feasible and useful areas in the workspace. In this paper, we model such a phenomenon by letting the cable wrap around the rigid link and including the results under workspace considerations. We construct a kinematic model of the cable path in a CDPM to include that segment of the cable wrapped over the surface of the rigid link, in addition to modeling the straight (unwrapped) segments of actuation cables in a conventional manner. The path that the cable wrapping around the rigid link describes is a function of the displacement of one or more rigid links. When wrapping occurs, contact between the cable and the rigid link is no longer restricted to a stationary point on the body attached frame, as in the case of a conventional CDPM, but becomes instead a function of the rigid link’s pose. The cable is assumed to be taut at all times, so finding the cable configuration is equivalent to finding the geodesic solution for the convex hull of a rigid body. Analysis is firstly presented for a basic case of finding the path of a single cable wrapped over an arbitrary (convex) rigid body, with specific illustration performed for a cylindrical rigid body. Modeling and analysis are then applied to the case of a certain CDPM that enables wrapped cable segments in its operation.

Cite this article as:
M. Lei and D. Oetomo, “Cable Wrapping Phenomenon in Cable-Driven Parallel Manipulators,” J. Robot. Mechatron., Vol.28, No.3, pp. 386-396, 2016.
Data files:
  1. [1] J. Albus, R. Bostelman, and N. Dagalakis, “The NIST ROBOCRANE,” J. of Robotic Systems, Vol.10, No.5, pp. 709-724, 1993.
  2. [2] Y. Mao and S. K. Agrawal, “Design of a cable-driven arm exoskeleton (CAREX) for neural rehabilitation,” IEEE Trans. on Robotics, Vol.28, No.4, pp. 922-931, 2012.
  3. [3] S. Perreault and C. M. Gosselin, “Cable-driven parallel mechanisms: Application to a locomotion interface,” ASME J. of Mechanical Design, Vol.130, No.10, p. 102301, 2008.
  4. [4] D. Lau, D. Oetomo, and S. K. Halgamuge, “Generalized modeling of multilink cable-driven manipulators with arbitrary routing using the cable-routing matrix,” IEEE Trans. on Robotics, Vol.29, No.5, pp. 1102-1113, 2013.
  5. [5] B. L. Wen, G. Yang, S. H. Yeo, and S. K. Mustafa, “A generic force-closure analysis algorithm for cable-driven parallel manipulators,” Mechanism and Machine Theory, Vol.46, No.9, pp. 1265-1275, 2011.
  6. [6] S. Rezazadeh and S. Behzadipour, “Workspace analysis of multibody cable-driven mechanisms,” ASME J. of Mechanisms and Robotics, Vol.3, No.2, p. 021005, 2011.
  7. [7] M. Gouttefarde, D. Daney, and J.-P. Merlet, “Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots,” IEEE Trans. on Robotics, Vol.27, No.1, pp. 1-13, 2011.
  8. [8] S. K. Mustafa and S. K. Agrawal, “On the force-closure analysis of n dof cable-driven open chains based on reciprocal screw theory,” IEEE Trans. on Robotics, Vol.28, No.1, pp. 22-31, 2012.
  9. [9] A. Trevisani, “Underconstrained planar cable-direct-driven robots: A trajectory planning method ensuring positive and bounded cable tensions,” Mechatronics, Vol.20, No.1, pp. 113-127, 2010.
  10. [10] S. Lahouar, E. Ottaviano, S. Zeghoul, L. Romdhane, and M. Ceccarelli, “Collision free path-planning for cable-driven parallel robots,” Robotics and Autonomous Systems, Vol.57, No.11, pp. 1083-1093, 2009.
  11. [11] H. R. Fahham, M. Farid, and M. Khooran, “Time Optimal Trajectory Tracking of Redundant Planar Cable-Suspended Robots Considering Both Tension and Velocity Constraints,” J. of Dynamic Systems, Measurement, and Control, Vol.133, No.1, Article 011004, 2011.
  12. [12] J.-P. Merlet and D. Daney, “Legs Interference Checking of Parallel Robots over A Given Workspace or Trajectory,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 757-762, 2006.
  13. [13] L. Blanchet and J.-P. Merlet, “Interference detection for cable-driven parallel robots (CDPRs),” Proc. of 2014 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 1413-1418, 2014.
  14. [14] S. Perreault, P. Cardou, M. Gosselin, and M. J.-D. Otis, “Geometric determination of the interference-free constant-orientation workspace of parallel cable-driven mechanisms,” ASME J. of Mechanisms and Robotics, Vol.2, No.3, p. 031016, 2010.
  15. [15] M. J-D. Otis, S. Perreault, T-L. Nguyen-Dang, P. Lambert, M. Gouttefarde, D. Laurendeau, and C. Gosselin, “Determination and management of cable interferences between two 6-dof foot platforms in a cable-driven locomotion interface,” IEEE Trans. on Systems, Man and Cybernetics, Part A: Systems and Humans, Vol.39, No.3, pp. 528-544, 2009.
  16. [16] Y. Wischnitzer, N. Shvalb, and M. Shoham, “Wire-driven parallel robot: Permitting collisions between wires,” Int. J. of Robotics Research, Vol.27, No.9, pp. 1007-1026, 2008.
  17. [17] D. Lau, J. Eden, D. Oetomo, and S. K. Halgamuge, “Musculoskeletal static workspace analysis of the human shoulder as a cable-driven robot,” IEEE/ASME Trans. on Mechatronics, Vol.20, No.2, pp. 978-984, 2015.
  18. [18] M. C. Lei and D. Oetomo, “Modelling of cable wrapping phenomenon towards improved cable-driven mechanisms,” Proc. of 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 649-655, 2013.
  19. [19] M. C. Lei and D. Oetomo, “Kinematic modelling of cable wrapping on rigid-link phenomenon in cable-driven parallel manipulators,” Proc. of 2015 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 97-103, 2015.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Nov. 20, 2018