Force Distribution With Pose-Dependent Force Boundaries for Redundantly Actuated Cable-Driven Parallel Robots

Yuan, Han; Courteille, Eric; Deblaise, Dominique

doi:10.1115/1.4032104

Cited by 24 publications

(13 citation statements)

References 20 publications

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“…The force distribution algorithm in this paper adopts the following methods: according to the virtual work principle [33], the relationship between the cable tension and the external force of the moving platform is as follows:…”

Section: Figure 16 Control Diagram Of the Impedance Control Modementioning

confidence: 99%

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Yuan¹,

An²,

Zhang³

et al. 2020

Preprint

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Cable-driven parallel robots (CDPRs) have the characteristics of reconfigurability, which endows CDPRs with flexible workspace, freely configurable degrees of freedom and various configurations, greatly expanding their range of applications. Modular design provides great convenience and feasibility for the realization of reconfiguration, which is a key issue of reconfiguration research. However, most existing CDPRs have problems of low modularity and low system integration, which brings inconvenience to the realization of reconfiguration. In this paper, a highly integrated and high precision cable-driving module is designed, which can accurately control the length and tension of the cable. In addition, experimental verification is performed. The single-module experiment shows that the module has good ability for cable length and cable tension control. The cable length control error is less than 0.2mm, and the cable tension control error is less than 0.8N. Furthermore, based on the proposed module, a CDPR with 8 cables and 6 degrees of freedom is constructed rapidly. The open-loop tracking error of the robot is measured by laser tracker. Results show that the tracking error is less than 4.5mm and the Root-Mean-Square-Error (RMSE) is 2.1mm. Besides, the compliance control experiment of the robot shows that the tracking error in impedance control mode is less than 2mm, and the RMSE is 0.95mm, and the drag force in teaching mode is less than 2.5N, which demonstrates good follow-up performance. The proposed compact cable-driving module with high precision could be useful for the design and rapid construction of reconfigurable CDPRs.

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Section: Figure 16 Control Diagram Of the Impedance Control Modementioning

confidence: 99%

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Yuan¹,

An²,

Zhang³

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Each cable j has tension t j such that 0 < t j ≤ t j ≤t j . The minimum tension is chosen such that there will not be excessive sag in the cable [22], and the maximum tension is the maximum force the quadrotor can exert on the cable (assumed to be less than the cable's safe operating tension). Accordingly, the tension space can be generalized as:…”

Section: Tension Spacementioning

confidence: 99%

“…The combination matrix α α α is built as all combinations of the columns of α α α jk , derived as in Eqn. (22), and arranged as shown in Eqn. (28)…”

Section: Spatial System With 3 Quadrotors and 6 Cablesmentioning

confidence: 99%

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Erskine

Chriette

Caro

2019

Journal of Mechanisms and Robotics

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Aerial cable towed systems (ACTSs) can be created by joining unmanned aerial vehicles (UAVs) to a payload to extend the capabilities of the system beyond those of an individual UAV. This paper describes a systematic method for evaluating the available wrench set and the robustness of equilibrium of ACTSs by adapting wrench analysis techniques used in traditional cable-driven parallel robots to account for the constraints of quadrotor actuation and dynamics. Case studies and experimental results are provided to demonstrate the analysis of different classes of ACTSs, as a means of evaluating the design and operating configurations.

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“…Coordinated allocation of driving forces is a feasible method. Many researchers have studied the driving force allocation method to ensure jumping stability of robots on rough terrain [28][29][30][31]. For example, Song et al [32] proposed a feasible driving force distribution method for redundantly actuated parallel robots.…”

Section: Introductionmentioning

confidence: 99%

Coordinated Allocation of Driving Forces for Bioinspired Robot With One-DOF Jumping Leg on Rough Terrain

2020

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Bioinspired jumping robots need to be able to move on rough terrain. Despite the high rigidity and low control difficulty of robots with one-DOF jumping legs, they are more prone to losing stability than robots with multi-DOF series legs due to the varying attitudes of bilateral jumping legs in the initial state, thereby further causing motion failure. For keeping the jumping stability of robots with one-DOF jumping legs, a coordinated allocation method of driving forces is proposed in this study. On the basis of an analysis of the instability of a locust in the takeoff phase, kinematics and dynamics models were established for a robot with active and passive driving modes, respectively. Unlike active driving, passive driving means that the driving forces cannot be adjusted in real time during the takeoff phase, and the randomness of the terrain needs to be considered. With the forces of the bilateral jumping legs to the trunk, takeoff velocity, and takeoff time of the equivalent center of mass as target values, the difference of target values on both sides should be approximately equal. Results show that with the driving forces obtained by the method proposed in this study as the input, the effect of the rough terrain on the trunk is reduced, and the robot has good jumping stability. This study provides a theoretical basis for the application of jumping robots in complex environments.

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Force Distribution With Pose-Dependent Force Boundaries for Redundantly Actuated Cable-Driven Parallel Robots

Cited by 24 publications

References 20 publications

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Coordinated Allocation of Driving Forces for Bioinspired Robot With One-DOF Jumping Leg on Rough Terrain

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