Closed-form Force Distribution for Parallel Wire Robots

Abstract

This paper presents an algorithm to determine feasible force distributions for parallel wire robots in closed-form. The force distributions are continuous along trajectories and differentiable at most of the points. The computational efforts are strictly bounded and small even for large numbers of wires. The algorithm is compared to other approaches for calculation of force distribution in terms of the numerical effort and their applicability for control purposes.

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

“…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.…”

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

“…In this paper, the advanced closed-form solution presented in Pott (2013) is applied. It is based on the closed-form solution for the structure matrix presented in Pott et al (2009). In this approach, a reference cable force f ref = (f min + f max )/2 is introduced which is based on the minimum cable force f min and maximum cable force f max , respectively.…”

Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

“…The dynamic parameters of CoGiRo winches are shown in Table 3. 6 4.000 -1.000 1.796 0.000 0.000 11.460 x 7 4.000 -1.000 1.307 0.000 0.000 11.460 x 8 4.300 -2.000 1.307 0.000 0.000 11.460 x 9 4.300 -2.000 2.296 0.000 0.000 11.460 x 10 0.000 0.000 2.296 0.000 0.000 0.000…”

“…Iterative algorithms are usually based on optimization and are not always suitable for real time implementations [6,7,8]. On the other hand, non-iterative algorithms give a solution in a reasonable amount of time and can be more easily implemented in real-time [9,10,5].…”