A novel real-time tension distribution method for cable-driven parallel robots

被引：0
|
作者：
Song, Da [1 ]
Lu, Ming [1 ]
Zhao, Lei [1 ]
Sun, Zhichao [1 ]
Wang, Haochen [1 ]
Zhang, Lixun [2 ]
机构：
[1] Northeast Elect Power Univ, Sch Mech Engn, Jilin, Peoples R China
[2] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin, Peoples R China
来源：
ROBOTICA | 2024年 / 42卷 / 11期
基金：
中国国家自然科学基金;
关键词：
cable-driven parallel robots; force distribution; parallel robot; robot dynamics; SCHEME;
D O I：
10.1017/S0263574724001590
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The tension distribution problem of cable-driven parallel robots is inevitable in real-time control. Currently, iterative algorithms or geometric algorithms are commonly used to solve this problem. Iterative algorithms are difficult to improve in real-time performance, and the tension obtained by geometric algorithms may not be continuous. In this paper, a novel tension distribution method for four-cable, 3-DOF cable-driven parallel robots is proposed based on the wave equation. The tension calculated by this method is continuous and differentiable, without the need for iterative computation or geometric centroid calculations, thus exhibiting good real-time performance. Furthermore, the feasibility and rationality of this algorithm are theoretically proven. Finally, the real-time performance and continuity of cable tension are analyzed through a specific numerical example.
引用
收藏
页码：3692 / 3708
页数：17
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