{"title":"全约束索驱动并联机器人无碰撞打印工作空间的计算","authors":"M. Fabritius, C. Martin, A. Pott","doi":"10.1115/DETC2018-85961","DOIUrl":null,"url":null,"abstract":"Using fully-constrained cable robots as manipulators for 3D-printing, there is the risk of collisions between the cables and the printing part.\n This paper presents a method to calculate the shape of the workspace volume within which a part can be printed without such collisions. The presented method is based on the fact that the printing part is produced in a sequence of horizontal layers. The areas occupied by the cables in the layers are scaled similar mappings of the cross-sections of the printing part. There is no collision if the 2D-shapes occupied by the cables in the printing layer do not overlap with the cross-sections of the printing part in the same layer. A procedure to find the largest printable 2D-shapes within the class of parallelograms for each layer is developed. The maximum printable 3D-volume is then given by stacking the 2D-shapes of each layer. Figures show the results of the method applied on the cable robot IPAnema 3. Finally, a guideline for the design of fully-constrained cable robots to maximize their printable volume is given.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots\",\"authors\":\"M. Fabritius, C. Martin, A. Pott\",\"doi\":\"10.1115/DETC2018-85961\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Using fully-constrained cable robots as manipulators for 3D-printing, there is the risk of collisions between the cables and the printing part.\\n This paper presents a method to calculate the shape of the workspace volume within which a part can be printed without such collisions. The presented method is based on the fact that the printing part is produced in a sequence of horizontal layers. The areas occupied by the cables in the layers are scaled similar mappings of the cross-sections of the printing part. There is no collision if the 2D-shapes occupied by the cables in the printing layer do not overlap with the cross-sections of the printing part in the same layer. A procedure to find the largest printable 2D-shapes within the class of parallelograms for each layer is developed. The maximum printable 3D-volume is then given by stacking the 2D-shapes of each layer. Figures show the results of the method applied on the cable robot IPAnema 3. Finally, a guideline for the design of fully-constrained cable robots to maximize their printable volume is given.\",\"PeriodicalId\":132121,\"journal\":{\"name\":\"Volume 5B: 42nd Mechanisms and Robotics Conference\",\"volume\":\"29 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Volume 5B: 42nd Mechanisms and Robotics Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/DETC2018-85961\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Volume 5B: 42nd Mechanisms and Robotics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/DETC2018-85961","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots
Using fully-constrained cable robots as manipulators for 3D-printing, there is the risk of collisions between the cables and the printing part.
This paper presents a method to calculate the shape of the workspace volume within which a part can be printed without such collisions. The presented method is based on the fact that the printing part is produced in a sequence of horizontal layers. The areas occupied by the cables in the layers are scaled similar mappings of the cross-sections of the printing part. There is no collision if the 2D-shapes occupied by the cables in the printing layer do not overlap with the cross-sections of the printing part in the same layer. A procedure to find the largest printable 2D-shapes within the class of parallelograms for each layer is developed. The maximum printable 3D-volume is then given by stacking the 2D-shapes of each layer. Figures show the results of the method applied on the cable robot IPAnema 3. Finally, a guideline for the design of fully-constrained cable robots to maximize their printable volume is given.