Seven-DOF Cable-Suspended Robot with Independent Metrology
R L. Williams, B Snyder, James S. Albus, Roger V. Bostelman
This paper presents a new cable-suspended robot. It is a 7-cable spatial design with a closed-form forward pose kinematics solution. Applications include automated machining, construction, and sculpting. This paper presents two new ideas. First, an independent, passive, sixstring- pot-based Cartesian metrology system was built and tested since length measurements through the active drive system may be inaccurate for large-scale systems. Second, we introduce a new active cable tensioning approach wherein we control the displacement of a physical spring in-line with one of the active drive cables in attempt to ensure only positive cable tensions in all active cables. This is compared with an existing particular/homogeneous tensioning solution approach. Simulation examples are presented in this paper; we are currently building the proposed system for future evaluation work.
September 28-October 2, 2004
Salt Lake City, UT
DETC '04: ASME Design Engineering Technical Conference & Computers & Information in Engineering Conference
, Snyder, B.
, Albus, J.
and Bostelman, R.
Seven-DOF Cable-Suspended Robot with Independent Metrology, DETC '04: ASME Design Engineering Technical Conference & Computers & Information in Engineering Conference, Salt Lake City, UT, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822552
(Accessed December 7, 2023)