Dynamic Modeling, Workspace Analysis and Multi-Objective Structural Optimization of the Large-Span High-Speed Cable-Driven Parallel Camera Robot

Abstract

Since most of the cable-driven parallel manipulators (CDPMs) are small in dimension or low in speed, the self-weight or inertia of the cable is neglected when dealing with the problems of kinematics, dynamics and workspace. The cable is treated as a massless straight line, and the inertia of the cable is not discussed. However, the camera robot is a large-span high-speed CDPM. Thus, the self-weight and inertia of the cable cannot be negligible. The curved cable due to the self-weight is modeled as a catenary to accurately account for its sagging effect. Moreover, the dynamic model of the camera robot is derived by decomposing the motion of the cable into an in-plane motion and an out-plane motion, based on which an iterative-based tension distribution algorithm and a workspace generation algorithm are presented. An optimization model is presented to simultaneously improve the workspace volume, anti-wind disturbance ability and impulse of tensions on the camera and pan–tilt device system (CPTDS) by selecting the proper optimal variables under the linear and nonlinear constraints. An improved genetic algorithm (GA) is proposed, and the simulation results demonstrate that the improved GA offers a stronger ability in global optimization compared to the standard genetic algorithm (SGA). The ideal-point method is employed to avoid the subjective influence of the designer when performing the multi-objective optimization, and a remarkable improvement of the performance is obtained through the optimization. Furthermore, the distribution characteristics of the optimization objects are studied, and some valuable conclusions are summarized, which will provide some valuable references in designing large-span high-speed CDPMs.

Kinematic analysis of a cable-driven 7-DOF robotic arm based on tensegrity joints

“…According to the theory proposed by Richard [5], the restraint of 4 passive cables is required to replace the normal ball joint with a tensegrity joint. Because of the unilateral drive characteristic of the active cable, the upper and lower limits of the number of active cables are determined according to Caratheodory's and Steinitz's resarch [6].…”

Design and Optimization of UAV Aerial Recovery System Based on Cable-Driven Parallel Robot

“…In small-scale or slowmoving CDPRs, cables are often treated as ideal, neglecting the impact of the cable mass and elasticity [27,34,35]. Some studies have taken into account the elasticity of the cables [36,37], while others have considered the cable mass [38,39]. The "sagging cable" model developed by Irvine [40] is primarily used for deriving kinematic and dynamic equations that consider both the cable mass and elasticity.…”

Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations

“…Ghaffar et al The related literature addresses diverse innovative settings in the design of CPMs (Williams and Graf, 2020;Maeda et al, 1999;Shen et al, 2021;Ferraresi et al, 2004;Xiong et al, 2020). Key aspects of these designs include workspace evaluation (Cui and Tang, 2021;Zarebidoki et al, 2022;Tho and Thinh, 2022;Jin et al, 2023;Zhang et al, 2020b), stiffness modeling (Cui et al, 2019;Gueners et al, 2021;Ahmad et al, 2011), and the behavior of cables under different conditions (Pierri et al, 2020;Hassan and Khajepour, 2011;Su et al, 2023). Optimizing cable tensions in response to external forces is a crucial area of research (Wahba and Honig, 2023), with recent studies exploring fractional transformation-based control methods to enhance the manipulator responsiveness and robustness (Rahman et al, 2022a,b).…”