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

Published online by Cambridge University Press:  16 October 2024

Da Song ,
Ming Lu Open the ORCID record for Ming Lu [Opens in a new window] ,
Lei Zhao Open the ORCID record for Lei Zhao [Opens in a new window] ,
Zhichao Sun ,
Haochen Wang  and
Lixun Zhang
Da Song
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Ming Lu
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Lei Zhao*
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Zhichao Sun
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Haochen Wang
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Lixun Zhang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
*
Corresponding author: Lei Zhao; Email: [email protected]
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Abstract

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.

Keywords

cable-driven parallel robotsforce distributionparallel robotrobot dynamics
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3692 - 3708
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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