Cable Force-Balancing Distribution of the Cable-Driven Parallel Mechanism for Actuator Saturation Avoidance

Abstract

Extended AbstractWhen any actuation cable force of the cable-driven parallel mechanism(CDPM) becomes negative during its operation, the cable goes slack losing its role of force transmission. Thus, every cable tensile force of the CDPM should always be kept positive in order for the CDPM to be properly operational. Indeed, the optimization problem for the cable force distribution of the CDPM should be defined by an appropriate objective function subject to inequality conditions to secure that every cable force is kept within the range, between the minimum and maximum tensile cable forces [1][2][3][4][5]. Recently, the pseudoinverse solution equation for the redundantly actuated PM with one redundant actuation is interpreted as line equations. Then through the search for the intersection points between lines, the computational efficiency in finding the optimal - norm solution could be improved significantly [6].In this work, an optimal cable force distribution algorithm is proposed, which can efficiently search for the minimum

Stiffness analysis and experimental validation of modular-type hybrid antagonistic tendon-driven joint systems

“…The first generation of Phantom 18 was designed as a lightweight but sturdy pointing device in a serial connection of tendons around rotating pulleys. Cho et al 19 proposed a cable force distribution algorithm to avoid torque saturation in cable-driven parallel mechanism. Kong and Jeon 20 developed a tendon-driven exoskeleton robot for rehabilitating or assisting elderly people and Agrawal et al 21 proposed an optimization-based design of tendon-driven exoskeleton mechanism.…”