The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation
Name
Cunningham-2009-The winch-bot A cable-suspended, under-actuated robot utilizing parametric self-excitation.pdf
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854.05 KB
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Author(s)
Cunningham, Daniel P.
Asada, Harry
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Cunningham, D., and H.H. Asada. “The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 1844-1850. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
A simple, compact, yet powerful robotic winch, called ldquoWinch-Bot,rdquo is presented in this paper. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/ROBOT.2009.5152378
