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Point-to-point motion planning of a parallel 3-dof underactuated cable-suspended robot

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2 Author(s)
Zoso, N. ; Dept. of Mech. Eng., Univ. Laval, Quebec City, QC, Canada ; Gosselin, Clement

This paper presents a planar parallel three-degree-of-freedom underactuated cable-driven robot. The mechanism is first described and a dynamic model is derived. The proposed mechanism does not require any mechanical (e.g. pulleys) or electrical (e.g. actuators) hardware to be mounted on the end-effector. A trajectory planning approach is developed, which is based on the natural frequency of the pendulum-like free motion (unconstrained degree of freedom). Sine-like excitation functions are used and their frequency and phase delay are determined using simulation results. A prototype is then described and experimental results are provided together with a video clip of an example trajectory. The results confirm that the mechanism can be effectively used to perform point-to-point trajectories.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012

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