Mass design method considering force control errors for two-redundant cable-suspended parallel robots

Liu, Zhen; Qin, Zhiwei; Gao, Haibo; Xiang, Sheng; Sun, Guangming; Sun, Cong; Deng, Zongquan

doi:10.1016/j.mechmachtheory.2022.105043

Cited by 2 publications

(1 citation statement)

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“…Similar to conventional rigid parallel robots, the dynamics of CDPRs can be modelled using Kane theory, the Lagrange method and the Newton Euler method [15][16][17]. Wang [18] established a CDPR dynamic model based on the virtual work principle, which did not consider the mass and elasticity of the cable.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Han

Chen

et al. 2023

JMSE

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Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor model is considered. On this basis, for the high-speed maneuverability of the C-DCR, a modified PD feedforward tracking controller was proposed. Furthermore, the stability of the controller was proved with the Lyapunov Stability Theory. To keep the cable in tension at all times, the tensions are optimized based on the minimum 2-norm method. The simulation results show that the error mean of position is 0.22 m and the angular error mean is 2.8° under ship motion and external disturbance, indicating that the C-DCR has stable, smooth and bounded tracking performance, which will ensure the accuracy of the cleaning operation.

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