Reconfigurable Cable Robot Workspace Optimization
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Solution Overview
Problem
Cable robots face limitations in workspace accessibility due to collision phenomena between cables and obstacles, and achieving stable platform configurations is complex, especially in three-dimensional environments, as existing methods are not tractable or practical for implementation.
Innovation Solution
A reconfigurable cable robot with movable anchoring points and independent mobile bases that can be optimized for specific tasks by determining an optimal configuration method involving discrete representations, geometric, and elastic criteria, and collision avoidance, allowing for the reduction of combinatorial complexity and efficient trajectory planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the working volume of the cable robot is increased, then the coverage area is improved, but collision risk between cables and obstacles increases
Solution Approach 1:
The patent applies dynamics by making the anchoring points movable rather than fixed, allowing the cable robot to dynamically reconfigure its cable paths. The mobile bases can be repositioned to change the spatial arrangement of anchoring points, enabling the system to adapt cable configurations to avoid collisions with obstacles while maintaining large workspace coverage. This dynamic reconfiguration resolves the contradiction between workspace volume and collision risk.
2Volume of moving object
If the anchoring points are distributed in three-dimensional space, then the workspace coverage is improved, but the complexity of determining optimal configuration increases
Solution Approach 1:
The patent applies segmentation by dividing the continuous three-dimensional space into a discrete set of possible anchoring point positions. Instead of treating the configuration space as continuous, the invention discretizes it into manageable segments or grid points, which simplifies the optimization problem. This allows the system to handle three-dimensional anchoring point distribution while reducing computational complexity through discrete representation.
Solution Approach 2:
The patent replaces complex mechanical optimization methods with computational algorithms. Instead of using variational analytical expressions that are mathematically intractable for three-dimensional cases, the invention employs discrete optimization algorithms and computational methods to determine optimal configurations. This substitution of computational approaches for analytical mechanical methods resolves the complexity issue.
3Stability of the object's composition
If the number of cables is increased to improve platform stability, then the stability is improved, but the device complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing optimal cable configurations for various workspace positions and orientations. Before actual operation, the system computes the necessary cable lengths and anchoring point positions for anticipated platform positions. This preliminary computation allows the control system to quickly determine stable configurations without real-time complex calculations, maintaining platform stability while managing system complexity through pre-planned configurations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method enables the cable robot to cover large workspaces efficiently by optimizing cable configurations, avoiding collisions, and ensuring stability along trajectories, thus enhancing its operational capabilities in three-dimensional environments.
Implementation Method 1
The stability of the platform, in a given position, is given by its static equilibrium, which equilibrium is carried out by the tension of the cables which act so as to counteract the external forces to which the aforementioned platform is subjected.
Implementation Method 2
The stability of the platform, in a given position, is given by its static equilibrium, which equilibrium is carried out by the tension of the cables
Implementation Method 3
the track followed by the cable between the attachment point and the winch comprises at least one pulley, for reorienting the cable
Data Source
AI summary
A cable robot comprises a platform supporting an effector and cables. Each cable is connected on one end to an attachment point on the platform and extends from this attachment point to an anchoring point attached to a supporting structure. The anchoring points being contained in more than one plane. The cables include a set of driving cables whose ends are connected to a winch. The cables include a set of reconfigurable cables, whose anchoring points are movable relative to the supporting structure. The supporting structure is beared by a set of independent mobile bases having anchorings to fix the mobile bases to the ground.