Grant: Discovery Launch Supplement

Cable-driven parallel robots (CDPR) are innovative robotic systems made up of a rigid mobile platform suspended by multiple winch-driven cables. Famous applications of CDPRs include radio telescopes and the aerial camera systems used in stadiums during sporting events. What makes CDPRs attractive are the many advantages of using cables. Cables are extremely lightweight, allowing CDPRs to produce high accelerations and span distances that would otherwise be impossible using rigid structures. They are also very low-cost, easy to reconfigure, and easy to replace. However, CDPRs also have their own set of technical challenges. A major challenge CDPRs have long faced is the risk of cables colliding with obstacles in their surrounding environment. This makes it difficult or impossible to explore the potential of using CDPRs in many situations that might otherwise benefit from their many advantages. Recently, variable-structure CDPRs (VSCR) have been identified as a novel design approach by allowing some cable collisions to occur. By wrapping around strategically placed barriers, unsafe areas or obstacles can be avoided. This pivotal discovery has enabled VSCRs to operate effectively in many complex environments that were previously impossible using traditional CDPRs. VSCRs have shown great promise in enhancing the feasibility of using CDPRs in applications such as horticulture, construction, and post-stroke rehabilitation. Nonetheless, The study of VSCRs is still very much in its infancy, with significant gaps in knowledge limiting widespread adoption. Because of the exciting potential VSCRs present for expanding the versatility of CDPRs and our current lack of knowledge, I have devoted my proposed research program to further developing the mathematical foundations for how VSCRs can be understood, controlled, and used to perform meaningful work. To this end, I have three short-term objectives:   1. Make VSCRs more accessible by developing a general motion planning method and control strategy.   2. Advance our knowledge of VSCRs by developing systematic representations for 3D VSCRs and 2D VSCRs where the collidable objects are free to move.   3. Improve the operational safety of CDPRs by developing a system for detecting unexpected collisions during operation. By producing simple yet effective solutions to these essential problems, this program will alleviate the major complexities involved in VSCR development, opening the door for future application-driven explorations and contributing to making Canada a world leader in VSCR research. In the proposed program, eight students will receive high-quality training in conducting research, technical communication, and advanced technical skills. Experimental work will further enrich students with valuable hands-on experience. Under my guidance, each student will receive the support and training they need to be successful in their future careers and leading contributors to Canada's Tech. economy.