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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Research on Controllable Stiffness of Redundant Cable-Driven Parallel Robots
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Research on Controllable Stiffness of Redundant Cable-Driven Parallel Robots

机译：冗余电缆驱动并联机器人的可控刚度研究

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摘要

In this paper, to solve the problem of variable stiffness of cable-driven parallel robots (CDPR), a new static stiffness analysis and cable tension distribution method are proposed for studying the CDPRs' controllable stiffness. First, a three-dimensional Hessian matrix of the structure matrix to position differential is deduced by introducing a line vector and differential transform, and a static stiffness model is established for analyzing the relationship between cable tension and the stiffness of the robots. Furthermore, a calculation algorithm for cable tension polygons based on Graham's Scan is introduced that effectively obtains the cable tension feasible region (CTFR) of CDPRs. Next, a method involving “the relationship between the external force and the pose change value of the moving-platform” is proposed to measure the variation of system stiffness. The CDPR's controllable stiffness is also analyzed based on the CTFR by considering the variation of each driving-cable's tension and each component of the moving-platform's pose. The results of experimental and theoretical analyses verify the correctness and efficacy of the proposed method. In addition, they show that the proposed method is computationally efficient and easily establishes the relationship between cable tension and the CDPR's controllable stiffness.
机译：为了解决电缆驱动并联机器人（CDPR）的可变刚度问题，提出了一种新的静态刚度分析和电缆张力分布方法来研究CDPR的可控刚度。首先，通过引入线矢量和微分变换，推导了结构矩阵的三维Hessian矩阵，用于位置微分，并建立了静态刚度模型来分析电缆张力与机器人刚度之间的关系。此外，介绍了一种基于Graham扫描的电缆张力多边形计算算法，该算法可以有效地获得CDPR的电缆张力可行区域（CTFR）。接下来，提出一种涉及“外力与移动平台的姿势变化值之间的关系”的方法来测量系统刚度的变化。通过考虑每个驱动电缆的张力和移动平台姿态的每个分量的变化，还基于CTFR分析了CDPR的可控刚度。实验和理论分析的结果证明了该方法的正确性和有效性。另外，他们表明，所提出的方法在计算上是有效的，并且容易建立电缆张力和CDPR的可控刚度之间的关系。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2018年第5期|2390-2401|共12页
  • 作者

    Zhiwei Cui; Xiaoqiang Tang; Senhao Hou; Haining Sun;

  • 作者单位

    State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China;

    State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China;

    State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China;

    State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China;

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  • 正文语种 eng
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  • 关键词

    Power cables; Mathematical model; Collaboration; Parallel robots; Force; Collision avoidance;

    机译：电力电缆;数学模型;协作;并联机器人;力;避撞;

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