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Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera, Lorenzo and Gallina, Paolo and Seriani, Stefano and Gasparetto, Alessandro (2018) Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums. IEEE Transactions on Robotics, 34 (2), pp. 474-485. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2018.2791593. ISSN 1552-3098.

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Official URL: https://ieeexplore.ieee.org/document/8291529


In this paper, we present a new family of overhead traveling cranes based on variable radius drums (VRDs), called cable-based robotic cranes (CBRCs). A 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 two degrees of freedom. First we present the kinematic analysis and the synthesis of the geometry of a 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.

Item URL in elib:https://elib.dlr.de/192581/
Document Type:Article
Title:Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Scalera, LorenzoUniversity of UdineUNSPECIFIEDUNSPECIFIED
Gallina, PaoloUniversity of TriesteUNSPECIFIEDUNSPECIFIED
Gasparetto, AlessandroUniversity of UdineUNSPECIFIEDUNSPECIFIED
Date:14 February 2018
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 474-485
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Cable robot, cable-based robotic crane (CBRC), overhead traveling crane, profile synthesis, variable radius drum (VRD)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Basic Technologies [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:19 Dec 2022 07:32
Last Modified:19 Dec 2022 07:32

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