{"title":"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","authors":"T. Tho, Nguyen Truong Thinh","doi":"10.18178/ijmerr.11.7.479-485","DOIUrl":null,"url":null,"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.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Study of Tension Distribution for Control of Planar Cable Driven Parallel Robot Using Quadratic Programming Algorithm\",\"authors\":\"T. Tho, Nguyen Truong Thinh\",\"doi\":\"10.18178/ijmerr.11.7.479-485\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":37784,\"journal\":{\"name\":\"International Journal of Mechanical Engineering and Robotics Research\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Mechanical Engineering and Robotics Research\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.18178/ijmerr.11.7.479-485\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Mechanical Engineering and Robotics Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.18178/ijmerr.11.7.479-485","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
A Study of Tension Distribution for Control of Planar Cable Driven Parallel Robot Using Quadratic Programming Algorithm
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.
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.
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