An Overview of the Development for Cable-Driven Parallel Manipulator

Tang, Xiaoqiang

doi:10.1155/2014/823028

Cited by 97 publications

(38 citation statements)

References 63 publications

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“…A quadratic polynomial response surface model, as shown in Eq. (6), is used to establish the surrogate mathematical model linking the optimal variables and SUM_DWS.…”

Section: Optimal Designmentioning

confidence: 99%

“…The workspace of the rigid parallel mechanism is too small, while the sling suspension method can only support force along one direction. Considering that cable-driven parallel mechanisms (CDPMs) have the advantages of high payload to weight ratio, (2019) 32:73 potentially large workspace, and high-speed motion [6], a parallel mechanism driven by nine cables is proposed for lunar takeoff simulation. To perform lunar takeoff simulation experiments, a CDPM should have enough workspace to output the desired resultant force with high precision.…”

Section: Introductionmentioning

confidence: 99%

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Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

Yi¹,

Zheng²,

Weifang³

et al. 2019

Chin. J. Mech. Eng.

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Traditional simulation methods are unable to meet the requirements of lunar takeoff simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have the advantages of high payload to weight ratio, potentially large workspace, and high-speed motion, these mechanisms have the potential to be used for lunar takeoff simulations. Thus, this paper presents a parallel mechanism driven by nine cables. The purpose of this study is to optimize the dimensions of the cable-driven parallel mechanism to meet dynamic workspace requirements under cable tension constraints. The dynamic workspace requirements are derived from the kinematical function requests of the lunar takeoff simulation equipment. Experimental design and response surface methods are adopted for building the surrogate mathematical model linking the optimal variables and the optimization indices. A set of dimensional parameters are determined by analyzing the surrogate mathematical model. The volume of the dynamic workspace increased by 46% after optimization. Besides, a force control method is proposed for calculating output vector and sinusoidal forces. A force control loop is introduced into the traditional position control loop to adjust the cable force precisely, while controlling the cable length. The effectiveness of the proposed control method is verified through experiments. A 5% vector output accuracy and 12 Hz undulation force output can be realized. This paper proposes a cable-driven parallel mechanism which can be used for lunar takeoff simulation. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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“…A quadratic polynomial response surface model, as shown in Eq. (6), is used to establish the surrogate mathematical model linking the optimal variables and SUM_DWS.…”

Section: Optimal Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

Yi¹,

Zheng²,

Weifang³

et al. 2019

Chin. J. Mech. Eng.

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“…However, fast movement and accurate positioning is problematic due to its degree of constraint and environment disturbance. (Albus, Bostelman, Dagalakis, 1992;Bostelman, Albus, Dagalakis, Jacoff, Gross, 1994;Lytle, Saidi, Bostelman, 2004;Lamaurssssy, Gouttefarde, 2013;Tang, 2014) …”

Section: Nist Spidermentioning

confidence: 99%

“…The proposed cables configuration in FALCON-7 as the first ultrahigh-speed CSPR is an effective configuration for suppression of vibration by controlling the intensity of internal forces exerted by cables which in turn improves the structural stiffness of the system. (Kawamura, Choe, Tanaka, Pandian, 1995;Kawamura, Kino, Won, 2000;Tang, 2014) …”

Section: Falcon-7mentioning

confidence: 99%

A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction

Shahmiri¹,

Gentry²

2016

Blucher Design Proceedings

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Serial, aerial and solid-linked parallel robots are unable to handle large payloads in building-scale workspaces for on-site applications and are thus best suited for automated fabrication in plant settings. In contrast, Cable Suspended Parallel Robots or CSPRs are able to handle large loads and traverse great distances as required on building construction sites. This paper reviews the existing literature and practice to bridge the gap between our understanding of CSPRs and their applicability to building-scale tasks such as full-scale concrete printing and building façade installation. The research identifies key activities in CSPRs fabrication workflows. Using a comparative approach, the paper investigates five CSPR variants and assesses the performance characteristics. A simple kinematic model of each CSPR is developed and implemented as a Rhino/Grasshopper script to aid in the performance assessment of each system. The paper concludes with a ranking of CSPR systems and their likely applicability to full-scale implementation on a construction site.

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“…Cable-driven parallel manipulators are of considerable importance in some applications, including motion over large workspaces [1][2][3][4] or with high acceleration/velocity [5] (see [6,7] for a literature review). To control the movement of end-effectors, cables in parallel replace extensible rigid linkages to form cable-driven parallel robots.…”

Section: Introductionmentioning

confidence: 99%

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Tang

Jiang

et al. 2015

Mechatronics

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An Overview of the Development for Cable-Driven Parallel Manipulator

Cited by 97 publications

References 63 publications

Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

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