Design and optimization of three-degree-of-freedom planar adaptive cable-driven parallel robots using the cable wrapping phenomenon

Sun, Cong; Gao, Haibo; Liu, Zhen; Xiang, Sheng; Yu, Haitao; Li, Nan; Deng, Zongquan

doi:10.1016/j.mechmachtheory.2021.104475

Cited by 22 publications

(11 citation statements)

References 15 publications

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“…The main contribution of this work is the proposal of a new alternative for the implementation of planar 3RRR robots. This proposal has ( 15)- (17) as direct kinematics and ( 25), (31) and (40) as inverse kinematics. For applications where phi is not necessary, the application of inverse kinematic systems is proposed.…”

Section: Discussionmentioning

confidence: 99%

“…Non-articulated planar parallel robot modeling has also been actively studied in P, D, and A joints [23][24][25][26][27][28] and cable-driven planar robots [29][30][31][32]. Furthermore, the applications of these planar parallel robots can range from window-washing applications [29] to orthopedics [23,25] and even neurorehabilitation [33].…”

Section: Referencesmentioning

confidence: 99%

“…With this data, the equations describing the inverse kinematics are employed. If Equations ( 25), (31) and ( 40) are utilized,…”

Section: Model Validation 41 Kinematics Model Implementationsmentioning

confidence: 99%

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Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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Existing direct and inverse kinematic models of planar parallel robots assume that the robot’s active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot’s mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial.

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Section: Discussionmentioning

confidence: 99%

Section: Referencesmentioning

confidence: 99%

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Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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“…Theorem 3. For robotic manipulator (1) under external environmental restriction (3). If the fixed-time force/position controller is designed as (55) with the fixed-time ADS (31), the sliding mode surface (36) and the adaptive law (56).…”

Section: Stability Analysismentioning

confidence: 99%

“…Due to advances in manufacturing and automation technology, various types of robots have been developed. [1][2][3] With the widespread use of robotic manipulators in the industrial field, [4][5][6] many works such as deburring, polishing and grinding have to make manipulator contact with the external environment. When performing these tasks, it means that the manipulator end-effector cannot move freely in the constrained direction.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fixed‐time minimal learning force/position control of uncertain manipulators subject to input saturation

Fang

et al. 2023

Adaptive Control & Signal

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This article solves the fixed-time force/position control problem for constrained manipulators in the presence of input saturation and uncertain dynamics. Under the fixed-time stability theory, a novel fixed-time auxiliary dynamic system (ADS) is first presented to compensate for the effects of input saturation nonlinearity. System uncertainties are estimated by using radial basis function neural networks (RBF NNs) and only need to tune one neural parameter online. In addition, with a fixed-time sliding mode surface and the proposed fixed-time ADS, a novel fixed-time adaptive neural force/position controller is designed which can not only ensure the fixed-time stability of the position tracking error but also enable the manipulator to track the desired force trajectory. By using the Lyapunov method, the boundedness of all signals in the closed-loop system is proved. Finally, the effectiveness of the proposed method is demonstrated by comparative simulation works.

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Statics and Path of the Cables of a Cable-Driven Parallel Robot Wrapping on Surfaces

Xiong

2023

Mechanisms and Machine Science

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Design and optimization of three-degree-of-freedom planar adaptive cable-driven parallel robots using the cable wrapping phenomenon

Cited by 22 publications

References 15 publications

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Adaptive fixed‐time minimal learning force/position control of uncertain manipulators subject to input saturation

Statics and Path of the Cables of a Cable-Driven Parallel Robot Wrapping on Surfaces

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