Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork

Philipp Tempel; Matthias Alfeld; Volkert van der Wijk

doi:10.1007/978-3-030-58380-4_17

Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork

Philipp Tempel^*, Matthias Alfeld, Volkert van der Wijk

^*Corresponding author for this work

Mechatronic Systems Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

2 Citations (Scopus)

Abstract

Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70 each in total, making scanning of the spatial surface of art objects possible.

Original language	English
Title of host publication	ROMANSY 23 - Robot Design, Dynamics and Control
Subtitle of host publication	Proceedings of the 23rd CISM IFToMMSymposium
Editors	G Venture, Y Takeda, J Solis, A Konno
Place of Publication	Cham, Switzerland
Publisher	Springer
Pages	136-144
ISBN (Electronic)	978-3-030-58380-4
ISBN (Print)	978-3-030-58379-8
DOIs	https://doi.org/10.1007/978-3-030-58380-4_17
Publication status	Published - 2020
Event	ROMANSY 2020: 23rd CISM-IFToMM Symposium onTheory and Practice of Robots and Manipulators - Online Duration: 20 Sept 2020 → 24 Sept 2020

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	601
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Conference

Conference	ROMANSY 2020
City	Online
Period	20/09/20 → 24/09/20

Keywords

Cable-driven parallel robot
Geometric design
Workspace analysis

Access to Document

10.1007/978-3-030-58380-4_17

Cite this

Tempel, P., Alfeld, M., & van der Wijk, V. (2020). Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork. In G. Venture, Y. Takeda, J. Solis, & A. Konno (Eds.), ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMMSymposium (pp. 136-144). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 601). Springer. https://doi.org/10.1007/978-3-030-58380-4_17

Tempel, Philipp ; Alfeld, Matthias ; van der Wijk, Volkert. / Design and analysis of cable-driven parallel robot CaRISA : A cable robot for inspecting and scanning artwork. ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMMSymposium. editor / G Venture ; Y Takeda ; J Solis ; A Konno. Cham, Switzerland : Springer, 2020. pp. 136-144 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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abstract = "Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70 each in total, making scanning of the spatial surface of art objects possible.",

keywords = "Cable-driven parallel robot, Geometric design, Workspace analysis",

author = "Philipp Tempel and Matthias Alfeld and {van der Wijk}, Volkert",

year = "2020",

doi = "10.1007/978-3-030-58380-4_17",

language = "English",

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booktitle = "ROMANSY 23 - Robot Design, Dynamics and Control",

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Tempel, P, Alfeld, M & van der Wijk, V 2020, Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork. in G Venture, Y Takeda, J Solis & A Konno (eds), ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMMSymposium. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 601, Springer, Cham, Switzerland, pp. 136-144, ROMANSY 2020, Online, 20/09/20. https://doi.org/10.1007/978-3-030-58380-4_17

Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork. / Tempel, Philipp; Alfeld, Matthias ; van der Wijk, Volkert.
ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMMSymposium. ed. / G Venture; Y Takeda; J Solis; A Konno. Cham, Switzerland: Springer, 2020. p. 136-144 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 601).

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

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T1 - Design and analysis of cable-driven parallel robot CaRISA

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AU - Tempel, Philipp

AU - Alfeld, Matthias

AU - van der Wijk, Volkert

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N2 - Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70 each in total, making scanning of the spatial surface of art objects possible.

AB - Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70 each in total, making scanning of the spatial surface of art objects possible.

KW - Cable-driven parallel robot

KW - Geometric design

KW - Workspace analysis

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SN - 978-3-030-58379-8

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

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EP - 144

BT - ROMANSY 23 - Robot Design, Dynamics and Control

A2 - Venture, G

A2 - Takeda, Y

A2 - Solis, J

A2 - Konno, A

PB - Springer

CY - Cham, Switzerland

Y2 - 20 September 2020 through 24 September 2020

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Tempel P, Alfeld M , van der Wijk V. Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork. In Venture G, Takeda Y, Solis J, Konno A, editors, ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMMSymposium. Cham, Switzerland: Springer. 2020. p. 136-144. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-030-58380-4_17

Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork

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Keywords

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