In order to control cable-driven parallel robots (CDPRs), it is necessary to keep all cable tensions within (positive) known limits during motion. For CDPRs having more cables than end-effector degrees of freedom, a feasible force distribution within cables should be computed beforehand. This paper aims at evaluating how a tension error in one cable affects the overall distribution of tensions in the other cables, by focusing on planar overconstrained CDPRs with four cables. The cable whose tension error more limitedly impact the force distribution is analytically determined by computing the right nullspace of the manipulator structure matrix. It is then shown how the cable least influencing the force distribution changes throughout the wrench-feasible workspace. Lastly, the results of the proposed analysis are used to perform a motion-control experiment on a prototype, where, for any configuration of the end-effector, the cable least influencing the force distribution is tension-controlled, while the remaining ones are length-controlled.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation



    Erscheinungsdatum :

    2021-01-01



    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Novel steel cable tension equalization equipment with adjustable tensioning force

    XU BING / YAO JINJIN / ZHANG JUNHUI et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Cable tension adjuster

    PYO HAE YUN | Europäisches Patentamt | 2022

    Freier Zugriff

    CABLE TENSION ASSEMBLY

    MIRONENKO EVGENIJ DMITRIEVICH / AVKELGIN STANISLAV VLADIMIROVICH / ZHUKOV ANDREJ VIKTOROVICH | Europäisches Patentamt | 2020

    Freier Zugriff

    Cable tension monitor and tension compensation device

    ZHU LANZHOU / SHA LEI / CHANG GUOQING | Europäisches Patentamt | 2015

    Freier Zugriff

    Low Tension Primary Cable

    SAE Technical Papers | 2000