Dynamic load-carrying capacity of cable-suspended parallel manipulators

Korayem, M. H.; Bamdad, Mahdi

doi:10.1007/s00170-008-1890-x

Cited by 37 publications

(21 citation statements)

References 15 publications

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“…where J A and C A are diagonal matrices with rotational inertia and rotational viscous damping coefficients [2]. The vector of pulley angles with pulley radius r is denoted by β.…”

Section: Kinematic and Dynamic Modelingmentioning

confidence: 99%

See 1 more Smart Citation

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

Bamdad

Tourajizadeh

Korayem

et al. 2011

Int J Adv Manuf Technol

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This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some initial tests. The final dynamic equations are organized in a closed form similar to serial manipulator equations. Dynamic load-carrying capacity problem is converted into a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. The problem is formulated using optimal control theory, and the ideas are analyzed using Pontryagin's minimum principle. The optimal solutions are found by solving the corresponding nonlinear two-point boundary value problems. The main objective is to find the manipulator load-carrying capacity in point-to-point task by considering actuator torque while cable forces are positive.

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“…where J A and C A are diagonal matrices with rotational inertia and rotational viscous damping coefficients [2]. The vector of pulley angles with pulley radius r is denoted by β.…”

Section: Kinematic and Dynamic Modelingmentioning

confidence: 99%

“…If the end effector trajectory is predefined, the dynamic load-carrying capacity (DLCC) would be the maximum value of load that the manipulator is able to carry [2]. The other definition of DLCC can be obtained by finding the maximum payload for which a manipulator can carry between a given initial and final position of the end effector.…”

Section: Introductionmentioning

confidence: 99%

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

Bamdad

Tourajizadeh

Korayem

et al. 2011

Int J Adv Manuf Technol

Self Cite

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“…Miyasaka et al 9 developed the hysteresis model for longitudinally loaded cables based on the Bouc-Wen hysteresis model. Korayem and colleagues [10][11][12] developed a computational method for obtaining maximum dynamic load-carrying capacity of the suspended CDPR with viscoelastic cables and suggested CDPR control algorithm derived by linear quadratic regulator (LQR), linear quadratic Gaussian (LQG), and feedback linearization control. In addition, the elasticity and uncertainties of a CDPR were neutralized by robust control, and the flexibility and uncertainties of cable suspended robot were compensated using sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Piao

Jin

Jung

et al. 2017

Advances in Mechanical Engineering

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A polymer cable-driven parallel robot has a wide range of potential industrial applications by virtue of its light actuator dynamics, high payload capability, and large workspace. However, due to a viscoelastic behavior of polymer cable and difficulty in actual cable length measurement, there have been inevitable position and tracking control accuracy problems such as pick and place a high payload application. In this article, to overcome control problem, we propose a modelbased open-loop control with the cable elongation compensation via experimentally driven cable model and switching control logic without additional Cartesian space feedback signal. The approach suggests a five-element cable model that is made with series combination of a linear spring and two Voigt models as a function of payload and cable length that are available to be measured in real-time. Experimental results show that using the suggested method, the cable length error due to viscoelastic effect can be compensated, and thus the position control accuracy of the polymer cable-driven parallel robot improved remarkably especially in gravity direction.

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“…The nonlinear optimal control method is proposed by Korayem and colleagues 23,24 for the cable-driven parallel mechanism. He also makes a contribution of obtaining the maximum dynamic load-carrying capacity of planar and suspended cable-driven mechanism, 25 finding the optimal trajectory for the suspended cable-driven mechanism. 26 Cong et al 27 develop a cable-driven parallel mechanism with eight cables, which is used for the cargo handling and other fields.…”

Section: Introductionmentioning

confidence: 99%

On the real-time calculation of the forward kinematics of a suspended cable–driven parallel mechanism with 6-degree-of-freedom wave compensation

Tao

2017

Advances in Mechanical Engineering

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A real-time forward kinematics method was proposed in this article and was used for a suspended cable-driven parallel mechanism with 6 degree-of-freedom wave compensation. The problem of the forward kinematics of a suspended cable-driven parallel mechanism was solved by a combination method including the tetrahedron approach and optimum theory. In this study, the high-dimensional nonlinear equations of mutual coupling were transformed into independent low-dimensional nonlinear equations using the tetrahedron approach. In this manner, the low-dimensional nonlinear equations could be calculated using the Levenberg-Marquardt method, thereby enabling and then, the forward kinematics could be solved in real time. Dividing the different tetrahedron solved the problem of rope slack of the redundant cable-driven parallel mechanism; therefore, this method could determine the forward kinematics of suspended cabledriven parallel mechanism just in time if the ropes were not all tensioned. Finally, an experiment was conducted on a prototype of 6-degree-of-freedom wave compensation, and the result revealed that the forward kinematics method proposed in this document was valid and accurate and could be performed in real time.

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Dynamic load-carrying capacity of cable-suspended parallel manipulators

Cited by 37 publications

References 15 publications

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

On the real-time calculation of the forward kinematics of a suspended cable–driven parallel mechanism with 6-degree-of-freedom wave compensation

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