Hostname: page-component-7b7567c8c-kwt9d Total loading time: 0 Render date: 2026-11-14T04:24:01.661Z Has data issue: false hasContentIssue false
  • English
  • Français

A new computation method for the force-closure workspace of cable-driven parallel manipulators

Published online by Cambridge University Press:  05 March 2014

Bo Ouyang and
Wei-Wei Shang
Bo Ouyang
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P.R. ChinaState Key Laboratory of Robotics and System (HIT), Harbin 150080, P.R. China
Wei-Wei Shang*
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P.R. ChinaState Key Laboratory of Robotics and System (HIT), Harbin 150080, P.R. China
*
*Corresponding author. E-mail: wwshang@ustc.edu.cn
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

For cable-driven parallel manipulators (CDPMs), it is known that maintaining positive cable tension is critical in constraining the moving platform. Hence, the force-closure workspace of CDPMs represents a set of poses where the cable tensions can balance arbitrary external wrench applied on the moving platform, proposed by researchers. A new computation method for the force-closure workspace of CDPMs is developed in this paper, and the new method is realized by calculating the null space of the structure matrix and solving the linear matrix inequalities. The detailed calculation procedures of the force-closure workspace for the incompletely restrained, completely restrained, and redundantly restrained CDPMs are given, respectively, and the advantages of the new method are analyzed according to the time complexity. The simulation experiments of the force-closure workspace computation are implemented on a six-degree of freedom (6-DOF) CDPM with eight cables, and then the superiority of the new method over the existing algorithm is studied.

Keywords

Cable-driven parallel manipulatorsForce-closure workspaceNull space of matrixLinear matrix inequalities

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015, pp. 537 - 547
Copyright
Copyright © Cambridge University Press 2014 

References

1.Zheng, Y. Q. and Liu, X. W., “Optimal tension distribution of wire-driven parallel manipulators,” Chin. J. Mech. Eng. 41 (9), 140–145 (2005).Google Scholar
2.Lafourcade, P., Llibre, M. and Reboule, C., “Design of a Parallel Wire-Driven Manipulator for Wind Tunnels,” Proceedings of the Workshop on Fundamental Issues and Future Directions for Paral2lel Mechanisms and Manipulators (2002) pp. 187–194.Google Scholar
3.Wang, W. L., Duan, B. Y., Peng, B. and Nan, R. D., “A new type of flexible parallel link manipulator actuated by cable,” Control Theory Appl. 18 (3), 328–332 (2001).Google Scholar
4.Ming, A. and Higuchi, T., “Study on multiple degree-of-freedom positioning mechanism using wires (part 1)—concept, design and control,” Int. J. Jpn. Soc. Eng. 28 (2), 131–138 (1994).Google Scholar
5.Kawamur, S., Choe, W., Tanaka, S. and Pandian, S. R., “Development of an Ultrahigh Speed Robot Falcon Using Wire Drive System,” IEEE International Conference on Robotics and Automation, Nagoya, Japan (1995) pp. 215–220.Google Scholar
6.Verhoeven, R., Analysis of the Workspace of Tendon-Based Stewart Platforms (University of-Duisburg-Essen, Duisburg, 2004).Google Scholar
7.Ebert-Uphoff, I. and Voglewede, P. A., “On the Connections Between Cable-Driven Manipulators Parallel Manipulators and Grasping,” IEEE International Conference on Robotics and Automation, New Orleans, United States (2004) pp. 4521–4526.Google Scholar
8.Cutkosky, M. R., “On grasp, choice, grasp model, and the design of hands for manufacturing tasks,” IEEE Trans. Robot. Autom. 5 (3), 269–279 (1989).CrossRefGoogle Scholar
9.Gouttefarde, M. and Gosselin, C. M., “Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms,” IEEE Trans. Robot. 22 (3), 434–445 (2006).Google Scholar
10.Ferraresi, C., Paoloni, M. and Pescarmona, F., “A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires,” Robotica 25 (1), 113–120 (2007).Google Scholar
11.Mahir, H. and Amir, K., “Analysis of bounded cable tensions in cable-actuated parallel manipulators,” IEEE Trans. Robot. 27 (5), 891–900 (2011).Google Scholar
12.Pham, C. B., Yeo, S. H., Yang, G. L., Kurbanhusen, M. S. and Chen, I. M., “Force-closure workspace analysis of cable-driven parallel mechanisms,” Mech. Mach. Theory 41 (1), 53–69 (2006).Google Scholar
13.Diao, X. M. and Ma, O., “A method of verifying force-closure condition for general cable manipulators with seven cables,” Mech. Mach. Theory 42 (12), 1563–1576 (2007).Google Scholar
14.Diao, X. M. and Ma, O., “Force-closure analysis of 6-DOF cable manipulators with seven or more cables,” Robotica 27 (2), 209–215 (2009).Google Scholar
15.Lim, W. B., Yang, G. L., Yeo, S. H. and Mustafa, S. K., “A generic force-closure analysis algorithm for cable-driven parallel manipulators,” Mech. Mach. Theory, 46 (9), 1265–1275 (2011).Google Scholar
16.Murray, R. M., Li, Z. X. and Sastry, S. S., A Mathematical Introduction to Robotic Manipulation (CRC Press, Florida, 1994).Google Scholar