Proceedings Article10.1109/ICCAS.2016.7832301
A tension distribution algorithm for cable-driven parallel robots operating beyond their wrench-feasible workspace
Alexis Fortin Cote,Philippe Cardou,Clément Gosselin +2 more
- 01 Oct 2016
pp 68-73
29
TL;DR: This paper presents an algorithm based on quadratic programming that is capable of handling cable tensions when the end-effector moves beyond its wrench-feasible workspace, a situation that can arise when the robot is used as a haptic interface.
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Abstract: One of the main concerns in the control of over-constrained cable driven parallel mechanisms is the handling of the tension distribution, which is crucial to the proper mechanism behaviour. For example, it dictates the power consumption and stiffness of the mechanism. One problem that remains to be addressed is the handling of cable tensions when the end-effector moves beyond its wrench-feasible workspace, a situation that can arise when the robot is used as a haptic interface. Most existing algorithms are capable of determining whether a specified wrench is unfeasible, but cannot return a suitable second-best tension distribution in such situations. This paper presents an algorithm based on quadratic programming that is capable of handling these situations in real time. The algorithm provides the exact tension distribution for exerting the prescribed wrench when the end-effector is inside the robot workspace. Moreover, when the end-effector is outside of the robot workspace, the algorithm returns a tension distribution that approximately generates the prescribed wrench. The effectiveness of the algorithm is first illustrated using the simulation of a simple cable-driven parallel robot (CDPR). Experimental results are then provided for an eight-cable six-degree-of-freedom CDPR using a real-time implementation.
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Citations
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency
TL;DR: A novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the resulting wrench is presented.
29
An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging
TL;DR: The content of this study is an effective reference for studies on important problems in the process of designing and implementing CDPRs, helping researchers shorten the time to review related topics.
23
Analytical tension-distribution computation for cable-driven parallel robots using hypersphere mapping algorithm
TL;DR: A novel measurement index of the magnitude of tensions, the tension hypersphere radius (THSR) for fully restrained CDPRs, which can be used to prevent slackness and excessive tension in the cables.
13
Tension planner for cable-driven suspended robots with unbounded upper cable tension and two degrees of redundancy
TL;DR: The mathematical background to plan fast and agile motion for two-degree redundant suspended manipulator is developed, several examples of path plans are calculated, and the calculations are validated with multibody dynamics simulations.
12
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism
Kaisheng Yang,Guilin Yang,Si-Lu Chen,Yi Wang,Chi Zhang,Zaojun Fang,Tianjiang Zheng,Chongchong Wang +7 more
TL;DR: A comprehensive simulation study is conducted, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tension optimization, and the Complex method is employed to obtain optimal tension distributions.
11
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