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Winch-integrated Mobile End-effector For A Cable-driven Parallel Robot with Auto-installation
Deri Wang,안정도,정진우,선정안,박종오,고성영,박석호 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
A cable-driven parallel robot (CDPR) is a robot in which rigid links are replaced with cables, unlikeconventional serial or parallel robots. The main advantages of a CDPR are a relatively large workspace, highpayload capacity, and high speed. Given the advantages of CDPR, it has recently been widely studied in the field ofmonitoring, construction, cleaning, and even rehabilitation. One of the major disadvantages of using a conventionalCDPR is that the cables should be manually installed to the main frame prior to the operation of CDPR. This task cansometimes be dangerous and requires a heavy workload. This paper describes the development of a planar CDPR inwhich cables can be installed automatically using a winch-integrated end–effector that can move as a mobile robot. In addition, the paper describes a variable power transmission winch that changes the path of a power of actuatorbetween a wheel and a winch. Using this mechanism, the number of main actuators and size of the CDPR canbe significantly reduced. In this work, our first prototype is developed. A series of experiments demonstrates theviability of automatically installing cables using the proposed mechanism.
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