In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.
CBRC (Cable-Based Robotic Crane): design and implementation of overhead travelling cranes based on variable radius drums
Lorenzo Scalera
;Alessandro Gasparetto
2018-01-01
Abstract
In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.File | Dimensione | Formato | |
---|---|---|---|
paper_carroponte_vrdm.pdf
accesso aperto
Tipologia:
Documento in Pre-print
Licenza:
Creative commons
Dimensione
4.92 MB
Formato
Adobe PDF
|
4.92 MB | Adobe PDF | Visualizza/Apri |
ieee_T-ro_2018.pdf
non disponibili
Descrizione: pdf editoriale
Tipologia:
Versione Editoriale (PDF)
Licenza:
Non pubblico
Dimensione
1.16 MB
Formato
Adobe PDF
|
1.16 MB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.