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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.

Full text not available from this repository.

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Scalera, LorenzoUniversity of UdineUNSPECIFIEDUNSPECIFIED
Gallina, PaoloUniversity of TriesteUNSPECIFIEDUNSPECIFIED
Seriani, StefanoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
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 SCOPUS:Yes
In ISI Web of Science:Yes
Volume:34
DOI:10.1109/TRO.2018.2791593
Page Range:pp. 474-485
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
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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