A Kinematic-Decouple Model for Cable-Driven Manipulators with Series-Parallel Coupling Relationship

被引：0
|
作者：
Jia, Lihui [1 ]
Zhang, Luyang [1 ]
Mu, Zonggao [1 ,2 ,3 ]
Gao, Mingwang [1 ]
Zhang, Naijun [3 ]
Song, Rujun [1 ]
机构：
[1] Shandong Univ Technol, Sch Mech Engn, Shandong Prov Key Lab Precis Mfg & Nontradit Machi, Zibo 255000, Peoples R China
[2] Harbin Inst Technol, Sch Mech Engn & Automation, Shenzhen 518055, Peoples R China
[3] Shandong Jite Ind Technol Co Ltd, Rizhao 262300, Peoples R China
来源：
MECHANICS OF SOLIDS | 2023年 / 58卷 / 03期
基金：
中国国家自然科学基金;
关键词：
cable-driven manipulator; kinematics; series-parallel coupling; INVERSE KINEMATICS; MOTION;
D O I：
10.3103/S0025654423700097
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
The kinematic model of cable-driven manipulators is more complicated than conventional robots due to the series-parallel coupling relationship. In this article, the kinematic-decouple model is proposed, which considers the series and parallel relationships of cable-driven manipulators. Firstly, the parallel relationship between cables and joints is analyzed based on characteristics of the structure. The series relationship of the cable-driven manipulator is solved by the Jacobi pseudo-inverse iterative method. The mapping relationship is established among task space, joint space, and driving space. Then, the configuration and end-trajectory of cable-driven manipulators are both simulated. Finally, the experiment proves the effectiveness of the kinematic-decouple model.
引用
收藏
页码：912 / 921
页数：10
相关论文
共 50 条
  • [21] Self-feedback motion control for cable-driven parallel manipulators
    Chen, Weihai
    Cui, Xiang
    Yang, Guilin
    Chen, Jingyuan
    Jin, Yan
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2014, 228 (01) : 77 - 89
  • [22] Workspace performance optimization of fully restrained cable-driven parallel manipulators
    Yang, Guilin
    Pham, Cong Bang
    Yeo, Song Huat
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 85 - +
  • [23] Cable Tension Control of Cable-Driven Parallel Manipulators with Position-Controlling Actuators
    Xiong, Hao
    Diao, Xiumin
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 1763 - 1768
  • [24] Design of a Novel Cable-Driven 3-DOF Series-Parallel Wrist Module for Humanoid Arms
    Liang, Zhihao
    Wang, Bin
    Song, Yaowei
    Zhang, Tao
    Xiang, Chaoqun
    Guan, Yisheng
    2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2021), 2021, : 709 - 714
  • [25] A Vision-Based Referencing Procedure for Cable-Driven Parallel Manipulators
    Zavatta, Michele
    Chianura, Mattia
    Pott, Andreas
    Carricato, Marco
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2020, 12 (04):
  • [26] Practical robust nonlinear PD controller for cable-driven parallel manipulators
    M. Isaac Hosseini
    S. Ahmad Khalilpour
    Hamid D. Taghirad
    Nonlinear Dynamics, 2021, 106 : 405 - 424
  • [27] Workspace analysis and optimal design of Cable-Driven Planar Parallel Manipulators
    Pham, CB
    Yeo, SH
    Yang, GL
    2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2004, : 219 - 224
  • [28] Practical robust nonlinear PD controller for cable-driven parallel manipulators
    Hosseini, M. Isaac
    Khalilpour, S. Ahmad
    Taghirad, Hamid D.
    NONLINEAR DYNAMICS, 2021, 106 (01) : 405 - 424
  • [29] Tension Optimization for Cable-driven Parallel Manipulators Using Gradient Projection
    Lim, W. B.
    Yeo, S. H.
    Yang, G.
    Mustafa, S. K.
    Zhang, Z.
    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2011, : 73 - 78
  • [30] Dynamics of cable-driven parallel manipulators with variable length vibrating cables
    Arena, Andrea
    Ottaviano, Erika
    Gattulli, Vincenzo
    INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 2023, 151
12345