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Seven-DOF Cable-Suspended Robot With Independent Metrology

[+] Author Affiliations
Robert L. Williams, II, Ben Snyder

Ohio University, Athens, OH

James S. Albus, Roger V. Bostelman

National Institute of Standards and Technology, Gaithersburg, MD

Paper No. DETC2004-57125, pp. 317-325; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


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, six-string-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.

Copyright © 2004 by ASME
Topics: Robots , Cables , Metrology



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