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 |
[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
|
[2] |
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
|
[3] |
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
|
[4] |
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
|
[5] |
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
|
[6] |
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
|
[7] |
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
|
[8] |
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
|
[9] |
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
|
[10] |
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
|
[11] |
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
|
[12] |
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
|
[13] |
Pott A. An improved force distribution algorithm for over-constrained cable-driven parallel robots//Marco Ceccarelli ed. Computational Kinematics. Springer, Dordrecht, 2014: 139-146
|
[14] |
Gosselin C, Grenier M. On the determination of the force distribution in over constrained cable-driven parallel mechanisms. Meccanica, 2011, 46: 3-15
|
[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
|
[16] |
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)
|
[17] |
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
|
[18] |
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
|
[19] |
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
|
[20] |
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
|
[21] |
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
|
[22] |
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
|
[23] |
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
|
[24] |
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
|
[25] |
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)
|
[26] |
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))
|
[27] |
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
|
[28] |
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
|
[29] |
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)
|
[30] |
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
|
[31] |
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
|