Model-Free Force Control of Cable-Driven Parallel Manipulators for Weight-Shift Aircraft Actuation

Mailhot, Nathaniel; Abouheaf, Mohammed; Spinello, Davide

doi:10.1109/tim.2023.3346524

Cited by 4 publications

(1 citation statement)

References 44 publications

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“…Comparing with the rigid robots, wire-actuated robots have the advantages of low inertia, large workspace, high safety and adaptability. Because of these advantages, the wire-actuated robots are applied widely in many fields, such as lifting and positioning [3,4], detection and maintenance [5][6][7], wearable rehabilitation and assistance [8][9][10][11][12][13], medical surgery [14][15][16], soft robot arm and hand [17][18][19][20], bionic robot [21]. Researchers have 2 designed different wire-actuated robots and carry out a lot of research works, such as kinematics and statics analysis [22][23][24][25][26], workspace analysis [27,28], wire tension analysis [29], stiffness analysis [30], dynamics analysis [31,32], path and trajectory planning [33][34][35], motion and compliance control [36][37][38][39][40] and so on.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Qian,

Yang,

Ruan

et al. 2024

Preprint

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In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.

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