Description
The main objectives of the dissertation are to develop a classification method for cable-driven robots and to create a workspace analysis method specifically for a particular class of these robots.
Ensuring human safety is paramount when humans and robots coexist in a shared, unstructured, and dynamic environment. In such settings, collisions are inevitable, so their impact must be mitigated through various design strategies, such as lightweight construction and variable stiffness. Cable-driven robots possess both of these attributes, making them well-suited for such applications.
Cable-driven robots are classified based on the following criteria: 1. The existence of a set of feasible cable tensions, 2. The number of controllable and drivable degrees of freedom (DOFs), and 3. The pose stability analysis if there is at least one uncontrollable DOF. By following this workflow, designers can identify the appropriate design tools associated with each class of cable-driven robots. A workspace analysis tool is developed for robots classified within the semi-controllable and semi-drivable class to complete the design tools suite. The method employs a rigid body-based dynamic relaxation approach combined with a pose controller. This method efficiently finds a static state for any cable-driven robot by solving the fictitious dynamic equations, and it is particularly suitable for robots with uncontrollable DOFs.
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