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Dynamic analysis and trajectory planning of cable-suspended parallel robots

Clément Gosselin
Département de génie mécanique Université Laval

December 18, 2017 at  11:00 AM
Macdonald Engineering Room 267


Cable-driven and cable-suspended parallel mechanisms have been studied over the past few decades. However, most of the proposed robots are designed to be used in a workspace limited to the footprint of the fixed cable attachment points. This talk will address the use of dynamic trajectory planning for cable-suspended parallel robots in order to extend their workspace beyond the footprint of the mechanism. Global conditions on the trajectory parameters that can guarantee that the cable tensions remain positive throughout the trajectory will be derived for 2-, 3- and 6-degree-of-freedom robots. Point-to-point trajectory planning strategies will also be presented and example robots will be shown. Finally, a novel architecture of translational parallel mechanism making use of cable parallelograms will be introduced.


Clément Gosselin received the Ph.D. degree from McGill University in 1988. He has been at Laval University (Quebec City) since 1989, where he is currently holding a Canada Research Chair in Robotics and Mechatronics since 2001. He was a visiting researcher at INRIA in France in 1988, at the RWTH in Aachen, Germany in 1995, at the University of Victoria, Canada in 1996 and at the IRCCyN in Nantes, France in 1999.
His research interests are kinematics, dynamics and control of robotic mechanical systems with a particular emphasis on the mechanics of grasping, the kinematics and dynamics of parallel manipulators and the development of human-friendly robots. His work has been the subject of numerous publications and he has trained more than 100 graduate students. Dr. Gosselin is an officer of the Order of Canada, as well as a fellow of the ASME, of the IEEE and of the Royal Society of Canada.