Dynamic and Wrench-Feasible Workspace Analysis of a Cable-Driven Parallel Robot Considering a Nonlinear Cable Tension Model

Kieu, Vu N. D.; Huang, Shyh‐Chour

doi:10.3390/app12010244

Cited by 5 publications

(3 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Wang [18] established a CDPR dynamic model based on the virtual work principle, which did not consider the mass and elasticity of the cable. Vu N. D. Kieu [19] used the Newton-Euler method to set up the dynamic model of CDPRs and researched the nonlinear tension model of the rope. R. Goodarzi [20] established a CDPR dynamic model based on cable elasticity and further considered the vibration of the cables on the working performance of the robot.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Han

Chen

et al. 2023

JMSE

View full text Add to dashboard Cite

Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor model is considered. On this basis, for the high-speed maneuverability of the C-DCR, a modified PD feedforward tracking controller was proposed. Furthermore, the stability of the controller was proved with the Lyapunov Stability Theory. To keep the cable in tension at all times, the tensions are optimized based on the minimum 2-norm method. The simulation results show that the error mean of position is 0.22 m and the angular error mean is 2.8° under ship motion and external disturbance, indicating that the C-DCR has stable, smooth and bounded tracking performance, which will ensure the accuracy of the cleaning operation.

show abstract

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Han

Chen

et al. 2023

JMSE

View full text Add to dashboard Cite

show abstract

“…cable-based parallel robots (CBPRs), which have a number of desirable properties, such as simple structure, heavy payload capabilities, large workspace, low energy consumption, and so on [2][3][4], have been widely used in astronomical observation [5], aerial photography [6], multiple mobile cranes [7], rehabilitation and training [8], and wind tunnel experiments [9]. There has been plenty of prior work in the aspects of workspace generation and analysis [10][11][12], stability evaluation and stability sensitivity analysis [1,13,14], cable tension optimal distribution [15][16][17],…”

Section: Introductionmentioning

confidence: 99%

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

et al. 2022

View full text Add to dashboard Cite

A suspended cable−based parallel robot (CBPR) composed of four cables and an end−grab is employed in a pick−and−place operation of moving target gangues (MTGs) with different shapes, sizes, and masses. This paper focuses on two special problems of pick−and−place trajectory planning and trajectory tracking control of the cable−based gangue−sorting robot in the operation space. First, the kinematic and dynamic models for the cable−based gangue−sorting robots are presented in the presence of model uncertainties and unknown external disturbances. Second, to improve the sorting accuracy and efficiency of sorting system with cable−based gangue−sorting robot, a four-phase pick−and−place trajectory planning scheme based on S-shaped acceleration/deceleration algorithm and quintic polynomial trajectory planning method is proposed, and moreover, a robust adaptive fuzzy tracking control strategy is presented against inevitable uncertainties and unknown external disturbances for trajectory tracking control of the cable−based gangue−sorting robot, where the stability of a closed-loop control scheme is proved with Lyapunov stability theory. Finally, the performances of pick−and−place trajectory planning scheme and robust adaptive tracking control strategy are evaluated through different numerical simulations within Matlab software. The simulation results show smoothness and continuity of pick−and−place trajectory for the end−grab as well as the effectiveness and efficiency to guarantee a stable and accurate pick−and−place trajectory tracking process even in the presence of various uncertainties and external disturbances. The pick−and−place trajectory generation scheme and robust adaptive tracking control strategy proposed in this paper lay the foundation for accurate sorting of MTGs with the robot.

show abstract

“…Yu et al determined the dynamic workspace of a camera robot by taking the intersection of workspaces with accelerations at different directions [35] and studied the relationships between the reachable area of the workspace bottom and heights of masts. Kieu et al developed a modified kinematic equation considering cable nonlinear tension and analyzed the wrench-feasible workspace at various motion accelerations [39]. However, the selfweights of the cables in these studies were all negligible.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling, Workspace Analysis and Multi-Objective Structural Optimization of the Large-Span High-Speed Cable-Driven Parallel Camera Robot

Qiu

Liu

et al. 2022

Machines

View full text Add to dashboard Cite

Since most of the cable-driven parallel manipulators (CDPMs) are small in dimension or low in speed, the self-weight or inertia of the cable is neglected when dealing with the problems of kinematics, dynamics and workspace. The cable is treated as a massless straight line, and the inertia of the cable is not discussed. However, the camera robot is a large-span high-speed CDPM. Thus, the self-weight and inertia of the cable cannot be negligible. The curved cable due to the self-weight is modeled as a catenary to accurately account for its sagging effect. Moreover, the dynamic model of the camera robot is derived by decomposing the motion of the cable into an in-plane motion and an out-plane motion, based on which an iterative-based tension distribution algorithm and a workspace generation algorithm are presented. An optimization model is presented to simultaneously improve the workspace volume, anti-wind disturbance ability and impulse of tensions on the camera and pan–tilt device system (CPTDS) by selecting the proper optimal variables under the linear and nonlinear constraints. An improved genetic algorithm (GA) is proposed, and the simulation results demonstrate that the improved GA offers a stronger ability in global optimization compared to the standard genetic algorithm (SGA). The ideal-point method is employed to avoid the subjective influence of the designer when performing the multi-objective optimization, and a remarkable improvement of the performance is obtained through the optimization. Furthermore, the distribution characteristics of the optimization objects are studied, and some valuable conclusions are summarized, which will provide some valuable references in designing large-span high-speed CDPMs.

show abstract

Dynamic and Wrench-Feasible Workspace Analysis of a Cable-Driven Parallel Robot Considering a Nonlinear Cable Tension Model

Cited by 5 publications

References 33 publications

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

Dynamic Modeling, Workspace Analysis and Multi-Objective Structural Optimization of the Large-Span High-Speed Cable-Driven Parallel Camera Robot

Contact Info

Product

Resources

About