An approach on stability analysis of cable-driven parallel robots considering cable mass

被引：4

作者：

Wei, Huiling ^{[1
]}

Qiu, Yuanying ^{[2
]}

Luo, Lufeng ^{[1
]}

Lu, Qinghua ^{[1
]}

机构：

[1] Foshan Univ, Coll Mech & Elect Engn, Foshan 528225, Peoples R China

[2] Xidian Univ, Key Lab, Minist Educ Elect Equipment Struct Design, Xian 710071, Peoples R China

来源：

AIP ADVANCES | 2021年 / 11卷 / 05期

基金：

国家重点研发计划; 中国国家自然科学基金;

关键词：

Cable model - Cable tension - Cable-driven - Matrix condition numbers - Parallel robots - Stability analysis - Stability indices - Stiffness model;

D O I：

10.1063/5.0047101

中图分类号：

TB3 [工程材料学];

学科分类号：

0805 ; 080502 ;

摘要：

This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based on cable tensions and stiffness matrix condition numbers. A cable model is introduced considering the effect of cable mass. A stiffness model is established based on the cable model. Then, the stiffness matrix condition numbers are presented. Furthermore, the stability of CDPRs is discussed. Numerical simulations show that the stability is better in the center and at the top of the whole workspace than in other places, which agrees well with theoretical predictions. The mixed evaluation stability indices considering cable mass and neglecting cable mass are, respectively, compared. The results show that cable mass is not negligible when evaluating accurately the stability of a cable-driven parallel robot.

引用

页数：8

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