Stiffness Enhancement and Motion Control of a 6-DOF Wire-driven Parallel Manipulator with Redundant Actuations for Wind Tunnels

Liu, Xin; Qiu, Yuanying

doi:10.5772/14974

Cited by 7 publications

(6 citation statements)

References 11 publications

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“…A CDPR with two rotational degrees of freedom can be designed for fields like wind tunnel testing, [25] patient rehabilitation [26] and wearable equipment [27]. The inertia of the CDPR is reduced due to the use of the light-weight cable instead of the rigid link as the transmission component, and the CDPR has a higher ration of load capacity/weight.…”

Section: Conceptual Design Of a Cdprmentioning

confidence: 99%

Conceptual design and error analysis of a cable-driven parallel robot

Zhao

Tang

et al. 2021

Robotica

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This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.

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Section: Conceptual Design Of a Cdprmentioning

confidence: 99%

Conceptual design and error analysis of a cable-driven parallel robot

Zhao

Tang

et al. 2021

Robotica

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show abstract

“…e design control law is substituted into equation (47), and we obtain (− 208, − 78, − 1) T P 3 (0, − 27.7, − 10.1) T P 4 (0, 27.7, − 10.1) T P 5 (0, 27.7, 10.1) T P 6 (− 208, 78, 1) T P 7 (− 208, − 78, 1) T P 8 (0, − 27.7, 10. e parameter values in Table 2 are used for simulation analysis. Mathematical Problems in Engineering…”

Section: Backstepping Sliding Mode Robustmentioning

confidence: 99%

“…However, wire (cable)-driven parallel robots have multiple properties such as strong coupling, nonlinearity, and time variant [7]; these may cause difficulties in achieving accuracy control. For the sake of solving these problems, various control methods have been developed rapidly.…”

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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“…4,5 The cable-driven parallel robot (CDPR) adopts cables instead of rigid links to drive the motion of the end effector, which brings the advantages of high load capacity, small motion inertia, good dynamics, large workspace, reconfigurable, as well as low manufacturing cost. The CDPRs have been successfully applied in the wind tunnel experiment, 6 high-speed sorting, 7 large radio telescope, 8 architecture construction, 9 and so on. The reconfigurability, low cost, and large workspace of the CDPRs well meet the requirements of exterior wall cleaning of buildings, and CDPRs can carry out the automated operations, showing great application potential in this field.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of the cable-driven parallel robot for cleaning exterior wall of buildings

Shao

Xie

Zhang

et al. 2021

International Journal of Advanced Robotic Systems

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With the development of cities, more high-rise buildings continue to emerge. Regular cleaning of building exterior walls is necessary, which mainly relies on manual work now. In this article, the planar four-cable-driven parallel robot (CDPR) is adopted to carry out the external cleaning of high-rise buildings. Firstly, the kinematic model and static model are established. The influence of the maximum cable force on the workspace is analyzed, and the position of the cable connection points on the end effector is discussed. Then, the stiffness of the CDPR is analyzed, which reveals that a large difference of the width-to-height ratio between the end effector and the base improves the stiffness condition number and average stiffness of the CDPR. Considering the size of the cleaning module, the horizontal cross layout is adopted and cable connection points are determined. The cable force range is discussed considering the variable size of the base. Finally, the prototype of a cable-driven cleaning robot is designed accordingly.

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Stiffness Enhancement and Motion Control of a 6-DOF Wire-driven Parallel Manipulator with Redundant Actuations for Wind Tunnels

Cited by 7 publications

References 11 publications

Conceptual design and error analysis of a cable-driven parallel robot

Conceptual design and error analysis of a cable-driven parallel robot

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

Design and analysis of the cable-driven parallel robot for cleaning exterior wall of buildings

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