This repository houses the codebase and documentation for the Cable Driven Parallel Manipulator (CDPM), a summer project by the Robotics Club, IIT Delhi.
CDPMs use tensioned cables to control the position and orientation of an end-effector (EE). Our specific configuration involves an 8-cable system maneuvering a cube-shaped end-effector within a cubic frame.
- Robust Design: Ensuring stability during operation.
- 6 Degrees of Freedom: Achieving both translational and rotational control.
- Precise Inverse Kinematics: Accurate calculation of cable lengths for desired poses.
- Tension Optimization: Maintaining positive tension in cables to prevent slack.
- Frame Structure: A cubic frame with 8 motors, each placed at the center of a face edge on the top and bottom faces.
- End-Effector (EE): Cube-shaped, suspended via 8 cables. Local attachment points are fixed relative to the EE's center.
- Motion: Successfully achieved translational motion.
- Issues: Currently facing challenges with rotating the EE (6 DOF), jerks during movement, and slack in lower wires.
- Electrical: Implemented custom PCBs to organize connections for the 8 stepper motors.
Watch the Working Prototype Video
- Full Control: Achieve rotation and full 6 Degrees of Freedom.
- Precision: Improve motor precision using encoders and PID controllers.
- Active Tensioning: Implement a mechanism to actively remove cable slack.
- Path Planning: Ensure precise movement along defined paths.
- Hardware Documentation - Mechanical design, CAD models, and Electronics.
- Software Documentation - Inverse Kinematics, ROS2 implementation, and algorithms.
- We follow the standard Git workflow for collaboration.
- Suggestions for improvement are welcome via Issues or Discussions.