Workspace and stiffness analysis of a three-degree-of-freedom spatial cable-suspended parallel mechanism while considering cable mass

Arsenault, Marc

doi:10.1016/j.mechmachtheory.2013.03.003

Cited by 47 publications

(39 citation statements)

References 13 publications

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“…A more precise cable model (i.e. catenary cable model) is presented and discussed in [22], which is out of the scope of this paper. Under this assumption, the length of cable i is denoted as…”

Section: Kinematic and Dynamic Modellingmentioning

confidence: 99%

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Tang

Jiang

et al. 2015

Mechatronics

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Section: Kinematic and Dynamic Modellingmentioning

confidence: 99%

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Tang

Jiang

et al. 2015

Mechatronics

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“…The most general one is that the cable can only be in tension; that is, cables should be kept taut to produce wrench on the end-effector [10]. Besides, the flexibility of cable should be considered in suspended cable parallel robots [11,12].…”

Section: Introductionmentioning

confidence: 99%

An Overview of the Development for Cable-Driven Parallel Manipulator

Tang

2014

Advances in Mechanical Engineering

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In the last two decades, cable-driven parallel robots have attracted a lot of attention in robot community as a hot topic of robot research. In this paper, the development of the cable-driven parallel manipulator is first introduced in general. Second, the latest advance in theory and applications of cable-driven parallel manipulator is presented in detail, especially some notable implementations. Finally, an other probable application foresight with this cable manipulator is proposed and discussed.

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“…As far as previous research on the CPMs is concerned, Baser and Konukseven developed an analytical method for predicting the transmission error [8]. Workspace and stiffness analysis of cable-driven manipulators considering cable mass has been investigated by Arsenault [9]. Different aspects like time optimal trajectory tracking [10], workspace [11], and bounded cable tensions [12] were also investigated extensively.…”

Section: Introductionmentioning

confidence: 99%

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

Cao

Qian

2014

Advances in Mechanical Engineering

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The aim of this work was to present iterative learning tracking control of a hybrid-driven based three-cable parallel manipulator (HDCPM). The HDCPM has the advantages of both cable parallel manipulator and hybrid-driven planar five-bar mechanism. Design of the HDCPM is described and dynamic model is developed on the basis of Lagrange method. Consider the HDCPM system with nonlinear, time-varying characteristics and repetitive unknown disturbances; an adaptive iterative learning control strategy, which can control gains change with the iterations, is designed. By means of Lyapunov function, the stability of the controller is proved. Finally, simulation results indicate that a perfect trajectory tracking of the HDCPM is achieved by the adaptive iterative learning controller, which also illustrate the correctness of the dynamic modeling and effectiveness of the proposed control strategy.

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Workspace and stiffness analysis of a three-degree-of-freedom spatial cable-suspended parallel mechanism while considering cable mass

Cited by 47 publications

References 13 publications

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

An Overview of the Development for Cable-Driven Parallel Manipulator

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

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