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Understanding the role of the flexibility in robotic manipulators: a cable-driven parallel robot case study

Grant number: 19/23004-8
Support type:Scholarships abroad - Research Internship - Doctorate
Effective date (Start): April 01, 2021
Effective date (End): March 31, 2022
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:Maira Martins da Silva
Grantee:Fernanda Thaís Colombo
Supervisor abroad: Marc Gouttefarde
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Research place: Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), France  
Associated to the scholarship:18/22760-0 - Control of parallel planar manipulators with flexible links, BP.DR

Abstract

Recently, soft robots, made from elastic materials, have been increasingly used in unstructured environments. The challenges of working with flexible components arise from the design of the machine to the instrumentation and control. Parallel kinematic machines (PKMs) present high dynamic response and energy efficiency, and especially cable-driven parallel robots (CDPRs) have high payload-to-weight ratio and large workspace. To cope with the lack of a direct measurement of the pose (position and orientation) of the end-effector of such manipulators, vision-based control strategies have been implemented at EESC-USP and LIRMM-France. Both manipulators could benefit from the application of sensor fusion techniques, which combine the data from several sensors installed on the setup to enrich the estimation of the pose of the end-effector. This may be more critical if the manipulators under study are subject to vibrations due to the flexibility of their components. Moreover, a more precise estimation of the cable forces acting on the mobile platform of a CDPR can be obtained by modeling the friction between the cables and pulleys. In this research project, sensor fusion techniques and friction models will be analyzed to obtain a more accurate position of the mobile platform of a CDPR located at LIRMM-France. Among the expected results, it is possible to highlight the contributions regarding instrumentation and control of PKMs with flexible components. (AU)

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VEICULO: TITULO (DATA)
VEICULO: TITULO (DATA)