Active Damping for Cable-Driven Parallel Robots

A part of our team is interested by the parallel cable-driven robot concept and its potential applications. This kind of robot has a lot of wonderful assets : huge workspace and scalability, very high dynamics, low cost and low power, compared to rigid (parallel or serial) robots. But these amazing performances come with a huge complexity in the robot mechanical model, and with really disturbing vibrations. In this project, we try to adress the modeling and vibration issue of parallel cable-driven robots with very light cables. We use reaction wheels and adaptative control to greatly reduce the vibrations amplitude and duration.

Introduction

In this project, we try to adress the modeling and vibration issue of parallel cable-driven robots with very light cables. We use reaction wheels and adaptative control to greatly reduce the vibrations amplitude and duration.

Stabilization Experiment with 2 cable pairs and 2 reaction wheel

Cable-Driven Robot set up

View of all the actuators

Material

• lego EV3 programmable brick and its peripherals
• Paspberry Pi model B with a wifi dongle
• 6DoF IMU chip (Pololu MinIMU-9 v2 Gyro, Accelerometer, and Compass)
• Matlab 2010+ with Simulink Coder
• fishing wire

Contact

• Xavier Weber
• Loïc CUVILLON
• Jacques Gangloff

Publications

1. Xavier Weber, Loic Cuvillon and Jacques Gangloff, Active vibration canceling of a cable-driven parallel robot using reaction wheels, in proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, Illinois, Sept. 14–18, 2014.

Funding

• PhD grant from French ministry of research (X. Weber, 20012-2015)