ICRA'09 Paper Abstract


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


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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