Paper Info
Title
Configuration Optimization and a Tension Distribution Algorithm for Cable-Driven Parallel Robots.
Abstract
In order to improve the performance of cable-driven parallel robots (CDPRs), the configuration of the redundantly actuated CDPRs is optimized, and a feasible continuous tension distribution method for tracking the trajectory of the robot is proposed. A convex analysis method is used to determine the wrench-feasible workspace of CDPRs and the grouped coordinate descent method is used to determine the size of the redundantly actuated six-degree-of-freedom CDPRs. By changing the cable layout and using the geometric analysis method for the redundantly actuated CDPRs, the maximum rotation angle of the mobile platform in 3-D space is determined. The optimal size and layout of the CDPR are determined by comparison and analysis. The high dynamic CDPRs require real-time control to adjust the cable tension. In order to solve this issue, a real-time cable tension distribution algorithm for a non-iteration two-degree-of-freedom actuation redundancy CDPR is proposed. The proposed tension distribution algorithm is applied to the optimized six-degree-of-freedom eight-cable CDPR, and compared with other existing cable tension distribution algorithms. The simulation results demonstrated that the feasibility and the advantages of the proposed cable tension distribution algorithm.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2841988
IEEE ACCESS
Keywords
Field
DocType
Cable-driven parallel robots,cable layout,wrench-feasible workspace,tension distribution algorithm
Parallel manipulator,Estimation of distribution algorithm,Computer science,Workspace,Control theory,Geometric analysis,Redundancy (engineering),Coordinate descent,Robot,Trajectory,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Da Song100.68
Zhang Lixun2263.36
Feng Xue3156.03