Abstract
Scholars have proposed to allow collisions of cables with the base, the end-effector, or obstacles to expand the workspace of cable-driven parallel robots (CDPRs) in recent years. However, allowing collisions also leads to new challenges in kinematics and dynamics modeling for CDPRs. To this end, this article focuses on a planar fully constrained n-degree-of-freedom (DOF) CDPR driven by n + 1 cables allowing collisions and develops a data-driven dynamics modeling strategy. The data-driven dynamics modeling strategy can address the collisions and optimal tension distribution issues simultaneously. Based on the data-driven dynamics modeling strategy, this article proposes a data-driven dynamics-based control strategy for the planar CDPR allowing collisions. A planar two-DOF CDPR prototype driven by three cables is established to evaluate the data-driven dynamics modeling strategy and data-driven dynamics-based control strategy.
Issue Section:
Research Papers
Keywords:
cable-driven parallel robot,
collisions allowed,
data-driven,
dynamics-based control,
cable-driven mechanisms
Topics:
Cables,
Collisions (Physics),
Dynamics (Mechanics),
End effectors,
Robots,
Modeling,
Tension
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