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
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