Technical Brief

On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators

[+] Author and Article Information
Leila Notash

Department of Mechanical and Materials Engineering,
Queen University,
Kingston, ON K7P 2S4, Canada
e-mail: leila.notash@queensu.ca

Manuscript received September 30, 2015; final manuscript received January 15, 2016; published online March 25, 2016. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 8(4), 044506 (Mar 25, 2016) (9 pages) Paper No: JMR-15-1288; doi: 10.1115/1.4032593 History: Received September 30, 2015; Revised January 15, 2016

The solution for positive wire tension vector in the presence of uncertainties in design parameters and error in data is investigated for parallel manipulators. The minimum 2-norm non-negative solution and enclosures for the vector of wire tensions are formulated utilizing the perturbed and the interval forms of Jacobian matrix and platform wrench. Methodologies for calculating the minimum 2-norm non-negative solution set of wire tension vector, for interval Jacobian matrix and interval external wrench, are presented. Example parallel manipulators are simulated to investigate the implementation and effectiveness of these methodologies while relating their results.

Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Fig. 1

Four-wire parallel manipulators with (a) 2DOF and (b) 3DOF

Grahic Jump Location
Fig. 2

Parameters of planar wire-actuated parallel manipulators

Grahic Jump Location
Fig. 4

Bounds of solution and solution set for example 2 (a) τcorrr using three parameters and (b) τtotr

Grahic Jump Location
Fig. 3

Bounds of solution and solution sets for example 1: τcorrr using (a) six parameters; (b) three parameters; (c) two parameters; (d) convex hull of vertices; and (e) τtotr




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In