EI、Scopus 收录
Volume 55 Issue 2
Feb.  2023
Turn off MathJax
Article Contents
Qin Zhiwei, Liu Zhen, Gao Haibo, Sun Guangyao, Sun Cong, Deng Zongquan. Force-distribution analysis for redundant cable-driven parallel robots under hybrid joint-space input. Chinese Journal of Theoretical and Applied Mechanics, 2023, 55(2): 497-510 doi: 10.6052/0459-1879-22-463
Citation: Qin Zhiwei, Liu Zhen, Gao Haibo, Sun Guangyao, Sun Cong, Deng Zongquan. Force-distribution analysis for redundant cable-driven parallel robots under hybrid joint-space input. Chinese Journal of Theoretical and Applied Mechanics, 2023, 55(2): 497-510 doi: 10.6052/0459-1879-22-463


doi: 10.6052/0459-1879-22-463
  • Received Date: 2022-09-30
  • Accepted Date: 2022-11-01
  • Available Online: 2022-11-02
  • Publish Date: 2023-02-18
  • Cable-driven parallel robots (CDPRs) represent a class of particular parallel robots whose rigid links are replaced by cables, where cable can only generate pull force and cannot be compressed. The force distribution in cables is one of the core problems for redundant CDPRs. The hybrid joint-space control strategy, where the chosen redundant cables are force-controlled, whereas the remaining ones are length-controlled in the joint space, is the main type of control strategy discussed in this paper. Because different cable combinations may lead to different control effects. This study provides the selection criteria for the target force-controlled cable combination in the hybrid-input control strategy. The cable tensions in the space with tension vectors as basis for two redundancies for cable-driven parallel robots were expressed based on the equivalent transformation method of vector space basis. The acceptable cable force errors limit proposed in this paper (CFEL) were defined and calculated based on the cable tensions in the space with tension vectors to find appropriate cable combinations for the force control. To validate the analysis of the force-distribution characteristics, a hybrid-input control trajectory planning strategy was developed using multibody dynamics simulations, based on a suspended cable configuration with layouts including two redundancies, while considering the interference of cable length and cable forces. In addition, a fix-pose simulation case via hybrid-input control strategy was performed to validate accuracy of the proposed calculation method for the CFEL. Finally, we found that cable combinations play an essential role for force control as the force control errors may be significantly magnified in cable combinations with high force-distribution sensitivity characteristics. The simulation results illustrate the significance of the analysis in this paper. What’s more, the concept of CFEL proposed in this paper provides guidance for the design of cable force controllers under the control strategies of hybrid joint-space input.


  • loading
  • [1]
    Alp AB, Agrawal SK. Cable suspended robots: design, planning and control//2002 IEEE International Conference on Robotics and Automation, Washington, USA, 2002: 4275-4280
    Sun C, Gao H, Liu Z, et al. Design and optimization of three-degree-of-freedom planar adaptive cable-driven parallel robots using the cable wrapping phenomenon. Mechanism and Machine Theory, 2021, 166: 104475 doi: 10.1016/j.mechmachtheory.2021.104475
    张耀军, 张玉茹, 戴晓伟. 基于工作空间最大化的平面柔索驱动并联机构优化设计. 机械工程学报, 2011, 47(13): 29-34 (Zhang Yaojun, Zhang Yuru, Dai Xiaowei. Optimal design for planar cable-driven parallel mechanism with respect to maximizing workspace. Journal of Mechanical Engineering, 2011, 47(13): 29-34 (in Chinese) doi: 10.3901/JME.2011.13.029
    Zi B, Sun H, Zhang D, et al. Design, analysis and control of a winding hybrid-driven cable parallel manipulator. Robotics and Computer-Integrated Manufacturing, 2017, 48: 196-208 doi: 10.1016/j.rcim.2017.04.002
    Wu Y, Cheng HH, Fingrut A, et al. CU-brick cable-driven robot for automated construction of complex brick structures: From simulation to hardware realization//2018 IEEE International Conference on Simulation, Modeling, and Programming for Aytonomous Robot. Brisbane, Australia, 2018: 166-173
    Melenbrink N, Werfel J, Menges A. On-site autonomous construction robots: towards unsupervised building. Automation in Construction, 2020, 119: 103312 doi: 10.1016/j.autcon.2020.103312
    于金山, 李潇, 陶建国等. 面向在轨装配的八索并联机构构型设计与工作空间分析. 机械工程学报, 2021, 57(21): 1-10 (Yu Jinshan, Li Xiao, Tao Jianguo, et al. Configuration design and workspace analysis of parallel mechanism driven by eight cables for on-orbit assembly. Journal of Mechanical Engineering, 2021, 57(21): 1-10 (in Chinese) doi: 10.3901/JME.2021.21.001
    Sun Y, Qiu Y, Liu P, et al. Dynamic modeling, workspace analysis and multi-objective structural optimization of the large-span high-speed cable-driven parallel camera robot. Machines, 2022, 10: 565 doi: 10.3390/machines10070565
    Rosati G, Andreolli M, Biondi A, et al. Performance of cable suspended robots for upper limb rehabilitation//IEEE 10th International Conference on Rehabilitation Robotics. Noordwijk, Netherlands, 2007: 385-392
    Bosscher P, Williams RL, Tummino M, et al. A concept for rapidly-deployable cable robot search and rescue systems//Asme International Design Engineering Technical Conferences & Computers & Information in Engineering Conference, California, USA. 2005: 589-598
    刘欣, 仇原鹰, 盛英. 风洞试验绳牵引冗余并联机器人的刚度增强与运动控制. 航空学报, 2009, 30(6): 1156-1164 (Liu Xin, Qiu Yuanying, Sheng Ying. Stiffness enhancement and motion control of a 6-DOF wire-driven parallel manipulator with redundant actuations for wind tunnels. Acta Aeronautica et Astronautica sinica, 2009, 30(6): 1156-1164 (in Chinese) doi: 10.3321/j.issn:1000-6893.2009.06.030
    Qin Z, Liu Z, Liu Y, et al. Workspace analysis and optimal design of dual cable-suspended robots for construction. Mechanism and Machine Theory, 2022(171): 104763
    Pott A. An improved force distribution algorithm for over-constrained cable-driven parallel robots//Marco Ceccarelli ed. Computational Kinematics. Springer, Dordrecht, 2014: 139-146
    Gosselin C, Grenier M. On the determination of the force distribution in over constrained cable-driven parallel mechanisms. Meccanica, 2011, 46: 3-15
    Gouttefarde M, Lamaury J, Reichret C, et al. A versatile tension distribution algorithm for n-DOF parallel robots driven by n+2 cables//IEEE Transactions on Robotics, 2015: 1444-1457
    宋达. 多冗余绳驱并联系统绳力分布算法研究. [硕士论文]. 哈尔滨: 哈尔滨工业大学, 2019

    Song Da. Research on cable tension distribution algorithm of multi-redundant cable-driven parallel system. [Master Thesis]. Harbin: Harbin Institute of Technology, 2019 (in Chinese)
    Sun G, Liu Z, Gao H, et al. Direct method for tension feasible region calculation in multi-redundant cable-driven parallel robots using computational geometry. Mechanism and Machine Theory, 2021, 158: 104225
    Gao H, Sun G, Liu Z, et al. Tension distribution algorithm based on graphics with high computational efficiency and robust optimization for two-redundant cable-driven parallel robots. Mechanism and Machine Theory, 2022(172): 104739
    Ameri A, Molaei A, Khosravi MA. Nonlinear observer-based tension distribution for cable-driven parallel robots//Marc Gouttefarde, Tobias Bruckmann, Andreas Pott eds. Cable-Driven Parallel Robots. Cham: Springer, 2021: 105-116
    Zhao T, Zi B, Qian S, et al. Algebraic method-based point-to-point trajectory planning of an under-constrained cable-suspended parallel robot with variable angle and height cable mast. Chinese Journal of Mechanical Engineering, 2020, 33(1): 1-18
    Liu Z, Qin Z, Gao H, et al. Mass design method considering force control errors for two-redundant cable-suspended parallel robots. Mechanism and Machine Theory, 2022, 177: 105043
    Khalilpour SA, Khorrambakht R, Taghirad HD, et al. Robust cascade control of a deployable cable-driven robot. Mechanical Systems and Signal Processing, 2019, 127: 513-530
    Brycjmann T, Mikelsons L, Hiller M, et al. A new force calculation algorithm for tendon-based parallel manipulators//2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Zurich, Switzerland, 2007: 1-6
    Bouchard S, Gosselin C, A simple control strategy for over-constrained parallel cable. mechanisms//The Canadian Congress of Applied Mechanics (CANCAM). McGill University, Montreal, 2005
    杨继锋, 姚蕊, 陈捷. 索牵引弹体装填机器人的尺寸优化设计. 清华大学学报(自然科学版), 2021, 61(3): 217-223 (Yang Jifeng, Yao Rui, Chen Jie. Cable-driven projectile loading robot. Journal of Tsinghua University (Science and Technology), 2021, 61(3): 217-223 (in Chinese)
    姚蕊. 大跨度索并联机构力学特征及尺寸综合设计研究. [博士论文]. 北京: 清华大学, 2010

    Yao Rui. Study on tension characteristic and dimensional synthetic design of cable driven parallel manipulators with large span. [PhD Thesis]. Beijing: Tsinghua University, 2010 (in Chinese))
    Mattioni V, Idà E, Carricato M. Force-distribution sensitivity to cable-tension errors: A preliminary investigation//Marc Gouttefarde, Tobias Bruckmann, Andreas Pott eds. Cable-Driven Parallel Robots. Springer, Cham, 2021: 129-141
    欧阳波, 尚伟伟. 6自由度绳索并联机器人力封闭工作空间的快速求解方法. 机械工程学报, 2013, 49(15): 34-41 (Ou Yangbo, Shang Weiwei. Efficient computation method of force-closure workspace for 6-DOF cable-driven parallel manipulators. Journal of Mechanical Engineering, 2013, 49(15): 34-41 (in Chinese) doi: 10.3901/JME.2013.15.034
    崔志伟, 唐晓强, 候森浩等. 索驱动并联机器人可控刚度特性. 清华大学学报(自然科学版), 2018, 58(2): 204-211 (Cui Zhiwei, Tang Xiaoqiang, Hou Senhao, et al. Characteristics of controllable stiffness for cable-driven parallel robots. Journal of Tsinghua University (Science and Technology), 2018, 58(2): 204-211 (in Chinese)
    秦志伟, 刘振, 孙国鹏等. 空间绳网旋转展开动力学分析. 宇航学报, 2021, 42(1): 41-49 (Qin Zhiwei, Liu Zhen, Sun Guopeng, et al. Dynamic analysis of spinning deployment of space web. Journal of Astronautics, 2021, 42(1): 41-49 (in Chinese) doi: 10.3873/j.issn.1000-1328.2021.01.005
    游虹, 尚伟伟, 张彬等. 基于高速视觉的绳索牵引并联机器人轨迹跟踪控制. 机械工程学报, 2019, 55(5): 19-26 (You Hong, Shang Weiwei, Zhang Bin, et al. Trajectory tracking control of cable-driven parallel robots by using high-speed vision. Journal of Mechanical Engineering, 2019, 55(5): 19-26 (in Chinese) doi: 10.3901/JME.2019.05.019
  • 加载中


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(17)  / Tables(2)

    Article Metrics

    Article views (324) PDF downloads(67) Cited by()
    Proportional views


    DownLoad:  Full-Size Img  PowerPoint