A review on topological architecture and design methods of cable-driven mechanism

Abstract

Research on the cable-driven mechanism has greatly developed with the booming of the robots in the past 30 years, and a range of corresponding theoretical studies have been published on them. The large-scale robot or manipulator with the complex cable-driven mechanism can be reconfigured. However, more theoretical studies are required on their topological architecture design and optimization to achieve this. Therefore, the applied cable-driven architectures and the corresponding theoretical studies are reviewed and summarized here. The parallel, serial, and differential architecture are illustrated, as well as their theories and methods, such as the workspace analysis based on the Jacobian matrix, particle swarm optimization and genetic algorithm, and kinematic design based on the graph theory are described. The features of the architecture and the theory studies are concluded. It is hoped that this study will help with design of future studies.

Robust Adaptive Control of Fully Constrained Cable-Driven Serial Manipulator with Multi-Segment Cables Using Cable Tension Sensor Measurements

“…The trajectories of the CDSM are described by the model in Equation (14) under the control law in Equations (15) and (17), the robust control law described by Equation (18), the parameter adaptive law described by Equations (19) and (16) and the following sufficient condition (23) globally asymptotically converges to and , which implies convergence of and to zero and the boundedness of . 14under the control law in Equations (15) and (17), the robust control law described by Equation 21, the parameter adaptive law described by Equations (21), (16) and (22) [19], which depends on the upper bound of uncertainties of the system, the control gains described by Equation (24) are independent of this upper bound. Hence, the highlevel controller described in Theorem 2 eliminates the requirement of knowing the upper bound of uncertainties.…”

“…Substituting the parameter adaptive law described by Equations (21) and (22) into Equation (42), and applying the following inequalities ‖ ‖ ‖ ‖ , ̃̂ ̃ gives the bounded described by…”

“…The tracking errors and can be written as functions of : (15), (17) and (58), the robust control law described by Equation (18) and the adaptive update law described by Equation (19) or the controller design described by Equations (15), (17) and (58), the robust control law described by Equation (20) and the adaptive update law described by Equations (21) and (22), the closed-loop system Equation 10…”

Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot

“…Although the CDLR has the above advantages and performance characteristics, the cable can only provide positive tension force and have low stiffness characteristics, so that the CDLR may have a pseudo-drag phenomenon. The safety of patients and the control strategy have become the biggest challenges during the training process [ 19 , 21 , 22 ]. In order to ensure the safety of patients, the following problems of the CDLR have been studied.…”

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

“…1,2 These problems can be ameliorated by the cable-driven mechanism (CDM), thanks to its low inertia, large workspace, high payload-to-weight ratio, good transportability, fully remote actuation, and ideal reconfigurability. 3 Meanwhile, physical human-robot interaction is the core of a WMRM. The key of the interaction lies in the compliant behavior of the robot, namely, in which the variable stiffness mechanisms are used.…”