On the Minimum Cable Tensions for the Cable-Based Parallel Robots | Zendy

Peng Liu | Zendy; Yuanying Qiu | Zendy; Yu Su | Zendy; Jiantao Chang | Zendy

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On the Minimum Cable Tensions for the Cable-Based Parallel Robots

Author(s) -

Peng Liu,

Yuanying Qiu,

Yu Su,

Jiantao Chang

Publication year - 2014

Publication title -

journal of applied mathematics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.307

H-Index - 43

eISSN - 1687-0042

pISSN - 1110-757X

DOI - 10.1155/2014/350492

Subject(s) - workspace , robot , parallel manipulator , stability (learning theory) , computer science , kinematics , wrench , tension (geology) , function (biology) , regular polygon , control theory (sociology) , mathematics , engineering , mechanical engineering , artificial intelligence , geometry , physics , control (management) , classical mechanics , machine learning , evolutionary biology , biology , moment (physics)

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

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