Development of a planar cable parallel robot for practical application in the educational process

Authors

DOI:

https://doi.org/10.15587/1729-4061.2021.237772

Keywords:

cable-driven parallel robot, planar, design, kinematics, statics, tension, end effector, prototype, control, encoder

Abstract

Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and in everyday life. They consist of an end effector and a base, which connected by several cables. CDPRs have a large workspace compared to the workspace of classic parallel robots. CDPR have a simpler structure have good dynamic properties, high carrying capacity, mobility and low cost. The only drawback is that the CDPR cables can only work for retraction and cannot push. This article presents the design of a prototype of a planar CDPR with four cables for practical use in the educational process. This prototype of a planar CDPR is necessary for a better understanding of the design features, structure, kinematics, statics and dynamics of the CDPR by students. The planar CDPR performs two translational motions, due to the controlled 4 cables, and one rotational motion of the end effector. The research of the kinematics and statics of the planar cable-driven parallel robot is carried out. Simulation of the motion of a planar cable-driven parallel robot in the Python programming language has been carried out. A design was developed and a prototype of the planar cable-driven parallel robot was manufactured. Experimental researches of a prototype of the planar cable-driven parallel robot have been carried out. The results of experimental researches have shown that the CDPR works well enough. During the tests of the prototype of the planar cable-driven parallel robot, it was found that the distortions of the trajectory of the end effector depend on the tension of the cables. It is necessary to monitor the tension level using strain gauges. Based on the analysis of the results obtained, the effectiveness of the use of the prototype of a planar CDPR in the educational process of the robotics course has been confirmed

Supporting Agency

  • This research has been funded by the Science Committee of the Ministry of Education and Science of the Republic of Kazakhstan (Grant No. AP09259339)

Author Biographies

Assylbek Jomartov, Institute of Mechanics and Mechanical Engineering named after Academician U. A. Dzholdasbekov

Doctor of Technical Sciences, Professor

Department of Problems of Mechanics, Machines and Robotics

Aziz Kamal, Institute of Mechanics and Mechanical Engineering named after Academician U. A. Dzholdasbekov

Master

Department of Problems of Mechanics, Machines and Robotics

Azizbek Abduraimov, Institute of Mechanics and Mechanical Engineering named after Academician U. A. Dzholdasbekov

Master

Department of Problems of Mechanics, Machines and Robotics

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Published

2021-08-31

How to Cite

Jomartov, A., Kamal, A., & Abduraimov, A. (2021). Development of a planar cable parallel robot for practical application in the educational process. Eastern-European Journal of Enterprise Technologies, 4(7(112), 67–75. https://doi.org/10.15587/1729-4061.2021.237772

Issue

Vol. 4 No. 7(112) (2021): Applied mechanics

Section

Applied mechanics

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Copyright (c) 2021 Assylbek Jomartov, Aziz Kamal, Azizbek Abduraimov

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