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首页> 外文期刊>Advances in Mechanical Engineering >Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces:
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Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces:

机译：通过粘弹性电缆模型对聚合物电缆驱动的并联机器人进行开环位置控制，适用于高负载工作区：

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摘要

A polymer cable–driven parallel robot has a wide range of potential industrial applications by virtue of its light actuator dynamics, high payload capability, and large workspace. However, due to a viscoelastic behavior of polymer cable and difficulty in actual cable length measurement, there have been inevitable position and tracking control accuracy problems such as pick and place a high payload application. In this article, to overcome control problem, we propose a model-based open-loop control with the cable elongation compensation via experimentally driven cable model and switching control logic without additional Cartesian space feedback signal. The approach suggests a five-element cable model that is made with series combination of a linear spring and two Voigt models as a function of payload and cable length that are available to be measured in real-time. Experimental results show that using the suggested method, the cable length error due to viscoelastic effect can be compensated, and thus the po...
机译：聚合物电缆驱动的并联机器人凭借其轻巧的执行机构动态特性，高负载能力和较大的工作空间而具有广泛的潜在工业应用。然而，由于聚合物电缆的粘弹性行为和实际电缆长度测量的困难，不可避免地出现了位置和跟踪控制精度问题，例如拾取和放置高有效载荷应用。在本文中，为了克服控制问题，我们提出了一种基于模型的开环控制方法，该方法具有通过实验驱动的电缆模型和切换控制逻辑来进行电缆伸长补偿的功能，而无需附加笛卡尔空间反馈信号。该方法提出了一种五元素电缆模型，该模型由线性弹簧和两个Voigt模型的串联组合制成，该模型是有效载荷和电缆长度的函数，可以进行实时测量。实验结果表明，采用所建议的方法，可以补偿由于粘弹性效应而引起的电缆长度误差，从而使电缆的长度减小。

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