On the Minimum Cable Tensions for the Cable-Based Parallel Robots
Joint Authors
Su, Yu
Qiu, Yuanying
Chang, Jiantao
Liu, Peng
Source
Journal of Applied Mathematics
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-03
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
This paper investigates the minimum cable tension distributions in the workspace for cable-based parallel robots to find out more information on the stability.
First, the kinematic model of a cable-based parallel robot is derived based on the wrench matrix.
Then, a noniterative polynomial-based optimization algorithm with the proper optimal objective function is presented based on the convex optimization theory, in which the minimum cable tension at any pose is determined.
Additionally, three performance indices are proposed to show the distributions of the minimum cable tensions in a specified region of the workspace.
An important thing is that the three performance indices can be used to evaluate the stability of the cable-based parallel robots.
Furthermore, a new workspace, the Specified Minimum Cable Tension Workspace (SMCTW), is introduced, within which all the minimum tensions exceed a specified value, therefore meeting the specified stability requirement.
Finally, a camera robot parallel driven by four cables for aerial panoramic photographing is selected to illustrate the distributions of the minimum cable tensions in the workspace and the relationship between the three performance indices and the stability.
American Psychological Association (APA)
Liu, Peng& Qiu, Yuanying& Su, Yu& Chang, Jiantao. 2014. On the Minimum Cable Tensions for the Cable-Based Parallel Robots. Journal of Applied Mathematics،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-464917
Modern Language Association (MLA)
Liu, Peng…[et al.]. On the Minimum Cable Tensions for the Cable-Based Parallel Robots. Journal of Applied Mathematics No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-464917
American Medical Association (AMA)
Liu, Peng& Qiu, Yuanying& Su, Yu& Chang, Jiantao. On the Minimum Cable Tensions for the Cable-Based Parallel Robots. Journal of Applied Mathematics. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-464917
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-464917