Modeling and Control of a Cable-Driven Robot for Inspection of Wide-Area Horizontal Workspaces

2016 ◽  
Author(s):  
Forrest Montgomery ◽  
Joshua Vaughan
Keyword(s):  
Parallel Manipulator ◽  
Large Scale ◽  
Parallel Manipulators ◽  
End Effector ◽  
Modeling And Control ◽  
Oscillatory Dynamics ◽  
Flexible Wire ◽  
Length Changes ◽  
Stiffness And Damping ◽  
And Control

Cable Driven Parallel Manipulators (CDPMs) utilize flexible wire to actuate an end-effector, allowing rapid accelerations across large workspaces. CDPMs are predominantly modeled with rigid cables, greatly simplifying the analysis. This model is satisfactory for small, fixed masses traveling short distances. However, as cable length increases, the flexibility of the cables, including the variation in stiffness and damping as length changes, cannot be ignored. In addition, the end-effector, which may be modeled as a pendulum, will rotate and contribute to the motion. This paper presents the modeling and control of a large-scale, cable-driven parallel manipulator, with application to inspection of large workspaces. The multi-degree-of-freedom model developed takes into account flexibility of cables and the oscillatory dynamics of the end effector. The dominant dynamics are identified and used to design a control system to limit vibration.

Modeling and Control of Winding Hybrid-Driven Based Cable-Parallel Manipulator

2013 ◽  
Vol 373-375 ◽  
pp. 111-115 ◽  
Author(s):  
Hui Hui Sun ◽  
Bin Zi ◽  
Sen Qian
Keyword(s):  
Fuzzy Control ◽  
Parallel Manipulator ◽  
Adaptive Fuzzy Control ◽  
Parallel Manipulators ◽  
Kinematics And Dynamics ◽  
Friction Compensation ◽  
Lagrange Method ◽  
Modeling And Control ◽  
Adaptive Fuzzy ◽  
And Control

This paper deals with modeling and adaptive fuzzy control of winding hybrid-driven cable parallel manipulator (WHDCPM). The WHDCPM has the advantages of both the traditional cable-parallel manipulator (CPM) and hybrid-driven based cable-parallel manipulator (HDCPM) since the hybrid-driven planar five-bar mechanism in HDCPM is replaced by winding hybrid-driven five-bar manipulator in WHDCPM. The physical architecture of WHDCPM is determined, and kinematics and dynamics of the cable parallel manipulators have been studied based on Lagrange method. The numerical simulation is demonstrated as an example with adaptive fuzzy control theory, and the diagrams of trajectory tracking, cable tension, friction compensation and motor torque are shown, respectively. The results demonstrate the feasibility and superiority of the WHDCPM.

Dynamic Modeling of a Parallel Manipulator With Three Translational Degrees of Freedom

1998 ◽  
Author(s):  
Richard Stamper ◽  
Lung-Wen Tsai
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Close Agreement ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Kinematic Structure ◽  
End Effector ◽  
Moving Platform ◽  
Euler Approach ◽  
Computationally Intensive

Abstract The dynamics of a parallel manipulator with three translational degrees of freedom are considered. Two models are developed to characterize the dynamics of the manipulator. The first is a traditional Lagrangian based model, and is presented to provide a basis of comparison for the second approach. The second model is based on a simplified Newton-Euler formulation. This method takes advantage of the kinematic structure of this type of parallel manipulator that allows the actuators to be mounted directly on the base. Accordingly, the dynamics of the manipulator is dominated by the mass of the moving platform, end-effector, and payload rather than the mass of the actuators. This paper suggests a new method to approach the dynamics of parallel manipulators that takes advantage of this characteristic. Using this method the forces that define the motion of moving platform are mapped to the actuators using the Jacobian matrix, allowing a simplified Newton-Euler approach to be applied. This second method offers the advantage of characterizing the dynamics of the manipulator nearly as well as the Lagrangian approach while being less computationally intensive. A numerical example is presented to illustrate the close agreement between the two models.

Inverse dynamic modeling and control of spatial rigid-flexible parallel manipulator

2018 ◽  
Vol 26 (1) ◽  
pp. 95-104
Author(s):  
刘凉 LIU Liang ◽  
赵新华 ZHAO Xin-hua ◽  
王收军 WANG Shou-jun ◽  
秦帅华 QIN Shuai-hua
Keyword(s):  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Inverse Dynamic ◽  
Modeling And Control ◽  
And Control

Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator

2003 ◽  
Vol 125 (1) ◽  
pp. 92-97 ◽  
Author(s):  
Han Sung Kim ◽  
Lung-Wen Tsai
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
End Effector ◽  
Solution Methods ◽  
Moving Platform ◽  
At Will

This paper presents the design of spatial 3-RPS parallel manipulators from dimensional synthesis point of view. Since a spatial 3-RPS manipulator has only 3 degrees of freedom, its end effector cannot be positioned arbitrarily in space. It is shown that at most six positions and orientations of the moving platform can be prescribed at will and, given six prescribed positions, there are at most ten RPS chains that can be used to construct up to 120 manipulators. Further, solution methods for fewer than six prescribed positions are also described.

Nonlinear PD Control of a Long-Span Cable-Supporting Manipulator in Quasi-Static Motion

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Jingli Du ◽  
Hong Bao ◽  
Chuanzhen Cui ◽  
Xuechao Duan
Keyword(s):  
Radio Telescope ◽  
Field Model ◽  
End Effector ◽  
Modeling And Control ◽  
Numerical Examples ◽  
Cable Length ◽  
Long Span ◽  
Length Increment ◽  
And Control ◽  
Control Output

This paper addresses modeling and control of a cable-supporting manipulator serving as the feed supporting structure of a large radio telescope. The manipulator consists of six long cables so that their curves must be considered. The end-effector is prone to vibration due to the long-span cables even if cable lengths can change perfectly just as they are expected. To deal with this problem, a feedback controller in the workspace is devised, in which the effects of both the cable length error and the pose error of the end-effector are taken into account. A controller is first devised for the resultant cable wrench exerted on the end-effector. Then the incremental relationship between the cable end force and the cable length together with the displacements of the end-effector is deduced. Combining this relationship, we convert the controller into a nonlinear one with cable length increment as the control output, which can be readily utilized in the manipulator. Numerical examples and experiments carried out on a field model of dimension 50 m validate the positioning precision of the manipulator and we can conclude the feasibility of the proposed feed supporting system.

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