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Reconfigurable Cable Driven Parallel Mechanism.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Reconfigurable Cable Driven Parallel Mechanism./
Author:	Youssef, Khaled.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
Description:	151 p.
Notes:	Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
Contained By:	Dissertations Abstracts International82-07B.
Subject:	Robotics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28152799
ISBN:	9798557046008

Reconfigurable Cable Driven Parallel Mechanism.
Youssef, Khaled.

Reconfigurable Cable Driven Parallel Mechanism. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 151 p.

Source: Dissertations Abstracts International, Volume: 82-07, Section: B.

Thesis (Ph.D.)--Universite du Quebec a Chicoutimi (Canada), 2020.

This item must not be sold to any third party vendors.

Due to the fast growth in industry and in order to reduce manufacturing budget, increase the quality of products and increase the accuracy of manufactured products in addition to assure the safety of workers, people relied on mechanisms for such purposes. Recently, cable driven parallel mechanisms (CDPMs) have attracted much attention due to their many advantages over conventional parallel mechanisms, such as the significantly large workspace and the dynamics capacity. In addition, it has lower mass compared to other parallel mechanisms because of its negligible mass cables compared to the rigid links. In many applications it is required that human interact with machines and robots to achieve tasks precisely and accurately. Therefore, a new domain of scientific research has been introduced, that is human robot interaction, where operators can share the same workspace with robots and machines such as cable driven mechanisms. One of the main requirements due to this interaction that robots should respond to human actions in accurate, harmless way. In addition, the trajectory of the end effector is coming now from the operator and it is very essential that the initial trajectory is kept unchanged to perform tasks such assembly, operating or pick and place while avoiding the cables to interfere with each other or collide with the operator. Accordingly, many issues have been raised such as control, vibrations and stability due the contact between human and robot. Also, one of the most important issues is to guarantee collision free space (to avoid collision between cables and operator and to avoid collisions between cables itself). The aim of this research project is to model, design, analysis and implement reconfigurable six degrees of freedom parallel mechanism driven by eight cables. The main contribution of this work will be as follow. First, develop a nonlinear model and solve the forward and inverse kinematics issue of a fully constrained CDPM given that the attachment points on the rails are moving vertically (conventional cable driven mechanisms have fixed attachment points on the rails) while controlling the cable lengths. Second, the new idea of reconfiguration is then used to avoid interference between cables and between cables and operator limbs in real time by moving one cable's attachment point on the frame to increase the shortest distance between them while keeping the trajectory of the end effector unchanged. Third, the new proposed approach was tested by creating a simulated intended cable-cable and cable-human interference trajectory, hence detecting and avoiding cable-cable and cable-human collision using the proposed real time reconfiguration while maintaining the initial end effector trajectory. Fourth, study the effect of relocating the attachment points on the constant-orientation wrench feasible workspace of the CDPM.

ISBN: 9798557046008Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Cable interference

Reconfigurable Cable Driven Parallel Mechanism.
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100 1 $a Youssef, Khaled. $3 3560454
245 1 0 $a Reconfigurable Cable Driven Parallel Mechanism.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2020
300 $a 151 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
500 $a Advisor: Otis, Martin.
502 $a Thesis (Ph.D.)--Universite du Quebec a Chicoutimi (Canada), 2020.
506 $a This item must not be sold to any third party vendors.
506 $a This item must not be added to any third party search indexes.
520 $a Due to the fast growth in industry and in order to reduce manufacturing budget, increase the quality of products and increase the accuracy of manufactured products in addition to assure the safety of workers, people relied on mechanisms for such purposes. Recently, cable driven parallel mechanisms (CDPMs) have attracted much attention due to their many advantages over conventional parallel mechanisms, such as the significantly large workspace and the dynamics capacity. In addition, it has lower mass compared to other parallel mechanisms because of its negligible mass cables compared to the rigid links. In many applications it is required that human interact with machines and robots to achieve tasks precisely and accurately. Therefore, a new domain of scientific research has been introduced, that is human robot interaction, where operators can share the same workspace with robots and machines such as cable driven mechanisms. One of the main requirements due to this interaction that robots should respond to human actions in accurate, harmless way. In addition, the trajectory of the end effector is coming now from the operator and it is very essential that the initial trajectory is kept unchanged to perform tasks such assembly, operating or pick and place while avoiding the cables to interfere with each other or collide with the operator. Accordingly, many issues have been raised such as control, vibrations and stability due the contact between human and robot. Also, one of the most important issues is to guarantee collision free space (to avoid collision between cables and operator and to avoid collisions between cables itself). The aim of this research project is to model, design, analysis and implement reconfigurable six degrees of freedom parallel mechanism driven by eight cables. The main contribution of this work will be as follow. First, develop a nonlinear model and solve the forward and inverse kinematics issue of a fully constrained CDPM given that the attachment points on the rails are moving vertically (conventional cable driven mechanisms have fixed attachment points on the rails) while controlling the cable lengths. Second, the new idea of reconfiguration is then used to avoid interference between cables and between cables and operator limbs in real time by moving one cable's attachment point on the frame to increase the shortest distance between them while keeping the trajectory of the end effector unchanged. Third, the new proposed approach was tested by creating a simulated intended cable-cable and cable-human interference trajectory, hence detecting and avoiding cable-cable and cable-human collision using the proposed real time reconfiguration while maintaining the initial end effector trajectory. Fourth, study the effect of relocating the attachment points on the constant-orientation wrench feasible workspace of the CDPM.
520 $a En raison de la croissance de la demande de produits personnalises et de la necessite de reduire les couts de fabrication tout en augmentant la qualite des produits et en augmentant la personnalisation des produits fabriques en plus d'assurer la securite des travailleurs, les concepteurs se sont appuyes sur des mecanismes robotiques afin d'atteindre ces objectifs. Recemment, les mecanismes paralleles entraines par cable (MPEC) ont attire beaucoup d'attention en raison de leurs nombreux avantages par rapport aux mecanismes paralleles conventionnels, tels que l'espace de travail considerablement grand et la capacite dynamique. De plus, ce mecanisme a une masse plus faible par rapport a d'autres mecanismes paralleles en raison de ses cables de masse negligeable comparativement aux liens rigides. Dans de nombreuses applications, il est necessaire que l'humain interagisse avec les machines et les robots pour realiser des taches avec precision et rapidite. Par consequent, un nouveau domaine de recherche scientifique a ete introduit, a savoir l'interaction humain-robot, ou les operateurs peuvent partager le meme espace de travail avec des robots et des machines telles que les mecanismes entraines par des cables. L'une des principales exigences en raison de cette interaction que les robots doivent repondre aux actions humaines d'une maniere securitaire et collaboratif. En consequence, de nombreux problemes ont ete souleves tels que la commande et la stabilite dues au contact physique entre l'humain et le robot. Aussi, l'un des enjeux les plus importants est de garantir un espace sans collision (pour eviter les collisions entre des cables et un operateur et eviter les collisions entre les cables entre eux). Le but de ce projet de recherche est de modeliser, concevoir, analyser et mettre en oeuvre un mecanisme parallele reconfigurable a six degres de liberte entraine par huit cables. La principale contribution de ces travaux de recherche est de developper un modele non lineaire et resolvez le probleme de cinematique direct et inverse d'un CDPM entierement contraint etant donne que les points d'attache sur les rails se deplacent verticalement (les mecanismes entraines par des cables conventionnels ont des points d'attache fixes sur les rails) tout en controlant les longueurs des cables. Dans une deuxieme etape, l'idee de la reconfiguration est ensuite utilisee pour eviter les interferences entre les cables et entre les cables et les membres d'un operateur en temps reel en deplacant un point de fixation du cable sur le cadre pour augmenter la distance la plus courte entre eux tout en gardant la trajectoire de l'effecteur terminal inchangee. Troisiemement, la nouvelle approche proposee a ete evaluee et testee en creant une trajectoire d'interference cable-cable et cable-humain simulee, detectant et evitant ainsi les collisions cable-cable et cable-humain en utilisant la reconfiguration en temps reel proposee tout en conservant la trajectoire effectrice finale. Enfin la derniere etape des travaux de recherche consiste a etudiez l'effet du deplacement des points d'attache sur l'espace de travail realisable du CDPM.
590 $a School code: 0862.
650 4 $a Robotics. $3 519753
650 4 $a Industrial engineering. $3 526216
650 4 $a Systems science. $3 3168411
653 $a Cable interference
653 $a Cable-driven robot
653 $a Human robot interaction
653 $a Parallel mechanism
653 $a Workspace analysis
690 $a 0771
690 $a 0354
690 $a 0546
690 $a 0790
710 2 $a Universite du Quebec a Chicoutimi (Canada). $b Sciences appliquees. $3 3348137
773 0 $t Dissertations Abstracts International $g 82-07B.
790 $a 0862
791 $a Ph.D.
792 $a 2020
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28152799