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Research Papers

Force Distribution With Pose-Dependent Force Boundaries for Redundantly Actuated Cable-Driven Parallel Robots

[+] Author and Article Information
Han Yuan

Université Européenne de Bretagne,
INSA-LGCGM-EA 3913,
20, avenue des Buttes de Cöesmes,
Rennes Cedex 35043, France
e-mail: han.yuan@insa-rennes.fr

Eric Courteille

Université Européenne de Bretagne,
INSA-LGCGM-EA 3913,
20, avenue des Buttes de Cöesmes,
Rennes Cedex 35043, France
e-mail: eric.courteille@insa-rennes.fr

Dominique Deblaise

Université Européenne de Bretagne,
INSA-LGCGM-EA 3913,
20, avenue des Buttes de Cöesmes,
Rennes Cedex 35043, France
e-mail: dominique.deblaise@insa-rennes.fr

1Corresponding author.

Manuscript received July 13, 2015; final manuscript received November 15, 2015; published online March 7, 2016. Assoc. Editor: Federico Thomas.

J. Mechanisms Robotics 8(4), 041004 (Mar 07, 2016) (8 pages) Paper No: JMR-15-1199; doi: 10.1115/1.4032104 History: Received July 13, 2015; Revised November 15, 2015

This paper addresses the force distribution of redundantly actuated cable-driven parallel robots (CDPRs). A new and efficient method is proposed for the determination of the lower-boundary of cable forces, including the pose-dependent lower-boundaries. In addition, the effect of cable sag is considered in the calculation of the force distribution to improve the computational accuracy. Simulations are made on a 6DOF CDPR driven by eight cables to demonstrate the validity of the proposed method. Results indicate that the pose-dependent lower-boundary method is more efficient than the fixed lower-boundary method in terms of minimizing the motor size and reducing energy consumption.

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Copyright © 2016 by ASME
Topics: Cables , End effectors
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References

Figures

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Fig. 1

Kinematic model of a general CDPR considering cable sag

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Fig. 2

Flow chart of the force distribution of CDPRs

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Fig. 3

Configuration of the 6DOF CDPR driven by eight cables

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Fig. 4

Force determination of the first cable: comparison between the ideal model and the nonideal sagging model 9. (a) Cable forces by two models, (b) absolute difference, and (c) relative difference.

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Fig. 5

Effect of sag level on the error of force determination (relative error between the ideal model and the nonideal sagging model)

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Fig. 6

The variation of the lower-boundary along the trajectory: the solid lines represent the results of the fixed lower-boundary and the dash lines represent the results of the pose-dependent lower-boundary. (a) First cable, (b) second cable, (c) third cable, (d) fourth cable, (e) fifth cable, (f) sixth cable, (g) seventh cable, and (h) eighth cable.

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Fig. 7

The variation of the cable force along the trajectory: the solid lines represent the results of the fixed lower-boundary and the dash lines represent the results of the pose-dependent lower-boundary. (a) First cable, (b) second cable, (c) third cable, (d) fourth cable, (e) fifth cable, (f) sixth cable, (g) seventh cable, and (h) eighth cable.

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Fig. 8

The energy consumption of the CDPR along the trajectory: the solid lines represent the results of the fixed lower-boundary and the dash lines represent the results of the pose-dependent lower-boundary

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