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Calculation of the Collision-free Printing Workspace for Fully-constrained Cable-Driven Parallel Robots

 
: Fabritius, Marc; Martin, Christoph; Pott, Andreas

:
Volltext urn:nbn:de:0011-n-5373668 (773 KByte PDF)
MD5 Fingerprint: 32b446dd907b02da7c555b40f194f017
Erstellt am: 12.3.2019


American Society of Mechanical Engineers -ASME-:
ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2018. Vol.5B: 42nd Mechanisms and Robotics Conference : Quebec City, Quebec, Canada, August 26-29, 2018
New York/NY.: ASME, 2018
ISBN: 978-0-7918-5181-4
Paper DETC2018-85961, 9 S.
Mechanisms and Robotics Conference (MECH) <42, 2018, Quebec>
International Design Engineering Technical Conferences (IDETC) <2018, Quebec>
Computers and Information in Engineering Conference (CIE) <2018, Quebec>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
3D-Druck; Kollisionsvermeidung; paralleler Seilroboter

Abstract
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.

: http://publica.fraunhofer.de/dokumente/N-537366.html