Comparative study of cable parallel manipulators with and without hybrid-driven planar five-bar mechanism

“…Chen et al [1] designed a 7-DOF cable-driven humanoid arm and proposed the kinematic calibration issues in order to improve its motion control accuracy. Zi et al [2] analyzed a cable parallel manipulator with and without hybrid-driven planar five-bar mechanism (HDPM). Yuan et al [3] presented an original approach to analyze the modal interaction and illustrated this approach by numerical investigations and experimental analyses.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer

Wang

Lin

Zhou

et al. 2020

Mathematical Problems in Engineering

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Based on a nonlinear disturbance observer, a backstepping sliding mode robust control is proposed for a wire-driven parallel robot (WDPR) system used in the wind tunnel test to dominate the motion of the end effector. The control method combines both the merits of backstepping control and sliding mode robust control. The WDPR is subject to different types of disturbances, and these disturbances will affect the motion precision of the end effector. To overcome these problems, a nonlinear disturbance observer (NDO) is designed to reject such disturbances. In this study, the design method of the nonlinear disturbance observer does not require the reliable dynamic model of the WDPR. Moreover, the design method can be used not only in the WDPR but also in other parallel robots. Then, a backstepping design method is adopted and a sliding mode term is introduced to construct a desired controller, and the disturbances are compensated in the controller to reduce the switching gain and guarantee the robustness. For the sake of verifying the stabilization of the closed-loop system, the Lyapunov function is constructed to analyze the stabilization of the system. Finally, the feasibility and validity of the proposed control scheme are proved through both simulation and experimental results.

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“…Zi et al. 10,11 compared the cable parallel manipulators with and without the hybrid-driven planar five-bar mechanism, proposed a winding hybrid-driven cable parallel manipulator, established kinematics and dynamic models, and designed a control system. Xu et al.…”

Section: Introductionmentioning

confidence: 99%

Performance analysis and optimization of a rigid-flexible parallel manipulator

Cui

Liu

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to meet the design requirements of friction stir welding equipment, a three-degree-of-freedom rigid-flexible 3UPS-UP-3Cable-Driven (3UPS-UP-3CD) parallel manipulator was applied to the main feed mechanism of the friction stir welding robot. The kinematics analysis of the new parallel manipulator was carried out, and the complete homogeneous dimensional Jacobian matrix of the 3UPS-UP-3CD manipulator was solved. Through kinematic performance analysis, the carrying capacity, dexterity and stiffness of 3UPS-UP-3CD manipulator are obviously better than 3UPS-UP mechanism, and the impact of cables on the workspace can also be eliminated by adjusting the dimension parameter. The composite quality workspace map of the manipulator was drawn, and the composite kinematic performance index was proposed. Multiobjective optimization was completed for 3UPS-UP-3CD manipulator, and its performance was improved. The dynamic analysis of the manipulator was carried out, and the driving forces of two mechanisms were calculated under two trajectories. The results showed that the maximum driving force of 3UPS-UP-3CD manipulator was lower than 3UPS-UP mechanism, which proved that 3UPS-UP-3CD manipulator was more suitable for heavy-duty conditions.

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Comparative study of cable parallel manipulators with and without hybrid-driven planar five-bar mechanism

Cited by 12 publications

References 26 publications

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer

Performance analysis and optimization of a rigid-flexible parallel manipulator

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