Stiffness and dexterous performances optimization of large workspace cable-driven parallel manipulators

Du, Jingli; Bao, Hong; Cui, Chuanzhen

doi:10.1080/01691864.2013.865542

Cited by 13 publications

(11 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Researchers have analyzed the stiffness of a CDPM based on the smallest eigenvalue of the stiffness matrix. According to literature, 28,29 the weakest stiffness of a CDPM was determined by the smallest eigenvalue of the stiffness matrix of the CDPM. It was shown in Jamshidifar et al.…”

Section: Introductionmentioning

confidence: 99%

Stiffness analysis of cable-driven parallel mechanisms with cables having large sustainable strains

Xiong

Diao

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

A cable-driven parallel mechanism is driven by a group of cables. Cable-driven parallel mechanisms can use various cables (e.g. steel cables, nylon cables, isoprene rubber cables, and extension springs) with different sustainable strains. This paper studies the stiffness of cable-driven parallel mechanisms with cables having large sustainable strains, aiming to achieve significantly adjustable overall stiffness. The overall stiffness of a cable-driven parallel mechanism can be decomposed into the constant base stiffness and the adjustable strain stiffness. This paper proposes and mathematically proves a theorem that guarantees that the overall stiffness of a cable-driven parallel mechanism at an arbitrary stable pose can be dominated by the adjustable strain stiffness when cable strains are larger than 100%. The theorem employs the minimum eigenvalues of stiffness matrices to characterize the stiffness of cable-driven parallel mechanism. The theorem provides a sufficient condition that guarantees that the overall stiffness of a cable-driven parallel mechanism at an arbitrary stable pose can be significantly adjusted (i.e. the adjustable strain stiffness contributes more than the constant base stiffness in determining the overall stiffness). The theorem is verified through the simulation of a cable-driven parallel mechanism with six degrees of freedom and seven cables.

show abstract

Section: Introductionmentioning

confidence: 99%

Stiffness analysis of cable-driven parallel mechanisms with cables having large sustainable strains

Xiong

Diao

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…22,23 The third model is used for high-speed, large-dimension, or heavy-load CDM. 16,[23][24][25][26][27][28] Previous researches have shown that the sagging cable model is divided into two-dimensional inclined cable [16][17][18][19]29 and three-dimensional inclined cable. 15,23,30 Riehl et al 29 analyzed the influence of the sagging cable model on the end-effector positioning, the control lengths of the cables, and the cable tensions.…”

Section: Introductionmentioning

confidence: 99%

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

Zhang

Cao

Hou

et al. 2019

Advances in Mechanical Engineering

View full text Add to dashboard Cite

The design of variable stiffness mechanism is of great importance to wheelchair-mounted robotic manipulators. In this article, the authors propose a cable-driven parallel-series hybrid joint toward wheelchair-mounted robotic manipulators with adjusting the system stiffness actively. The joint is a cable-driven, compression-spring-supported hybrid mechanism. Then, the kinematic analysis and cable tension analysis through static modeling are established to derive the joint stiffness model. Finally, cable-driven parallel-series hybrid joint stiffness adjustment ability analysis is carried out in four different load cases with MATLAB. Featured with light structure, stiffness adjustability, and large workspace, the proposed cabledriven parallel-series hybrid joint proves to be of great potential use for wheelchair-mounted robotic manipulators.

show abstract

“…Ropes, due to their light weight and high strength, have been extensively employed in diverse engineering applications including suspension bridges, 1 mobile cranes, 2 rope-driven parallel robots, 3 elevators, 4 and mine hoisting; 5 however, they usually undergo the longitudinal, lateral, and even coupled vibrations caused by the external excitations for their high flexibility and low bending stiffness. Particularly, in the typical sinking winch mechanism 6 as shown in Figure 1(a), there are three main types of ropes: suspension ropes, guiding ropes, and a hoisting rope.…”

Section: Introductionmentioning

confidence: 99%

Coupled vibrations of rope-guided hoisting system with tension difference between two guiding ropes

Cao

Wang

Zhu

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

The flexibility of the guiding rope and the tension difference between two guiding ropes cause the lateral and torsional vibrations of the hoisting conveyance in the rope-guided hoisting system, respectively, which are theoretically investigated with two different cases in this paper. The assumed modes method is used to discretize the hoisting rope and two guiding ropes, and Lagrange equations of the first kind is adopted to derive the equations of motion, while the geometric matching conditions at the interfaces of the ropes are accounted for by the Lagrangian multiplier. Considering all the geometric matching conditions are approximately linear, the differential algebraic equations are transformed to a system of ordinary differential equations. The current method can obtain not only the accurate lateral displacements of two guiding ropes, but also the constraint forces between the hoisting conveyance and two guiding ropes. Further, the current method is verified by the ADAMS simulation. Finally, the effects of various parameters on the lateral and torsional vibrations of the hoisting conveyance are analyzed and results indicate that the appropriate tension difference and distance difference could decrease the maximum lateral displacement, which is useful to design super deep rope-guided hoisting system for the decrease of the vibration.

show abstract

Stiffness and dexterous performances optimization of large workspace cable-driven parallel manipulators

Cited by 13 publications

References 21 publications

Stiffness analysis of cable-driven parallel mechanisms with cables having large sustainable strains

Stiffness analysis of cable-driven parallel mechanisms with cables having large sustainable strains

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

Coupled vibrations of rope-guided hoisting system with tension difference between two guiding ropes

Contact Info

Product

Resources

About