ICRA'09 Paper Abstract

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Paper FrB8.3

Lim, Wenbin (Nanyang Technological University), Yang, Guilin (Singapore Institute of Manufacturing Technology), YEO, Song Huat (Nanyang Technological University), Mustafa, Shabbir Kurbanhusen (Singapore Inst. of Manufacturing Tech.), Chen, I-Ming (Nanyang Technological University)

A Generic Tension-Closure Analysis Method for Fully-Constrained Cable-Driven Parallel Manipulators

Scheduled for presentation during the Regular Sessions "Parallel Robots - II" (FrB8), Friday, May 15, 2009, 11:10−11:30, Room: 406

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Parallel Robots, Redundant Robots

Abstract

Cable-driven parallel manipulators (CDPMs) are a special class of parallel manipulators that are driven by cables instead of rigid links. Due to the unilateral property of the cables, all the driving cables in a fully-constrained CDPM must always maintain positive tension. As a result, tension analysis is the most essential issue for these CDPMs. By drawing upon the mathematical theory from convex analysis, a sufficient and necessary tension-closure condition is proposed in this paper. The key point of this tension-closure condition is to construct a critical vector that must be positively expressed by the tension vectors associated with the driving cables. It has been verified that such a tension-closure condition is general enough to cater for CDPMs with different numbers of cables and DOFs. Using the tension-closure condition, a computationally efficient algorithm is developed for the tension-closure pose analysis of CDPMs, in which only a limited set of deterministic linear equation systems need to be resolved. This algorithm has been employed for the tension-closure workspace analysis of CDPMs and verified by a number of computational examples. The computational time required by the proposed algorithm is always shorter as compared to other existing algorithms.

 

 

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