A Study of Tension Distribution for Control of Planar Cable Driven Parallel Robot Using Quadratic Programming Algorithm

Q3 Engineering International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI:10.18178/ijmerr.11.7.479-485

T. Tho, Nguyen Truong Thinh

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Abstract

The kinematic problem of Cable Driven Parallel Robots is not like that of other conventional robots due to the transmission mechanisms are the cables that can only exert the pulling force on the moving frame because the cable cannot be used to push. Therefore, the robot can only perform the task if the tensions in all cables are positive. The calculation of the kinematics and control for these types of robots as well as calculating the tension distribution to ensure the equilibrium for the moving frame at the nodes have to be done simultaneously. This paper described analysis and experiments of a planar cable driven parallel robot, in which, the inverse kinematics of the robot is solved based on a cable tension distribution model with a quadratic cost function, the values of tensions of cables are preferred to follow the mean value of the cable tension limit. A force feedback controller is also designed to control the robot based on calculated data, then the experimental results are analyzed to evaluate the effectiveness of this model.

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平面索驱动并联机器人张力分布控制的二次规划算法研究

缆索驱动并联机器人的运动问题不同于传统机器人的运动问题，因为其传动机构是缆索，而缆索不能用来推动，只能对运动框架施加拉力。因此，只有当所有缆绳的张力都为正时，机器人才能执行任务。这类机器人的运动学计算和控制计算以及保证运动框架在节点处平衡的张力分布计算必须同时进行。本文对一种平面拉索驱动并联机器人进行了分析与实验，基于带二次代价函数的拉索张力分布模型求解了机器人的运动学逆解，使拉索张力的取值更倾向于拉索张力极限的平均值。基于计算数据，设计了力反馈控制器对机器人进行控制，并对实验结果进行了分析，以评价该模型的有效性。

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.