This paper addresses the force distribution of redundantly actuated cable-driven parallel robots (CDPRs). A new and efficient method is proposed for the determination of the lower-boundary of cable forces, including the pose-dependent lower-boundaries. In addition, the effect of cable sag is considered in the calculation of the force distribution to improve the computational accuracy. Simulations are made on a 6DOF CDPR driven by eight cables to demonstrate the validity of the proposed method. Results indicate that the pose-dependent lower-boundary method is more efficient than the fixed lower-boundary method in terms of minimizing the motor size and reducing energy consumption.
Force Distribution With Pose-Dependent Force Boundaries for Redundantly Actuated Cable-Driven Parallel Robots
Manuscript received July 13, 2015; final manuscript received November 15, 2015; published online March 7, 2016. Assoc. Editor: Federico Thomas.
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Yuan, H., Courteille, E., and Deblaise, D. (March 7, 2016). "Force Distribution With Pose-Dependent Force Boundaries for Redundantly Actuated Cable-Driven Parallel Robots." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041004. https://doi.org/10.1115/1.4032104
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