Integrated Mechanism Design and Control for Completely Restrained Hybrid-Driven Based Cable Parallel Manipulators

被引：2
作者：
Bin Zi
Huafeng Ding
Jianbin Cao
Zhencai Zhu
Andrés Kecskeméthy
机构：
[1] China University of Mining and Technology,School of Mechanical and Electrical Engineering
[2] Harbin Institute of Technology,State Key Laboratory of Robotics and System
[3] University of Duisburg-Essen,Chair of Mechanics and Robotics
来源：
Journal of Intelligent & Robotic Systems | 2014年 / 74卷
关键词：
Hybrid-driven based cable parallel manipulators; Integrated optimization design; Mechanics analysis ; Trajectory planning and control;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper deals with a methodology of simultaneous optimal design of mechanism and control for completely restrained hybrid-driven based cable parallel manipulators (HDCPM) in order to improve the dynamic performance of the HDCPM system. The HDCPM have the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism (HDPM). Kinematics and dynamics of the HDCPM are studied based on closed loop vector, geometric characteristic of mechanism and Lagrange method separately. Following that the integrated optimization model is established based on mechanics analysis and optimum control performance, and a genetic algorithm is used to carry out the optimization solution. As an example, separated optimization design and integrated optimization design for the completely restrained HDCPM with 3 Degrees of Freedom are comparatively investigated on the basis of the above design objectives. Simulation results illustrate that the dynamic performance of the HDCPM system can be significantly improved after integrated optimization design.
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页码：643 / 661
页数：18
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