Comparison of internal force antagonism between redundant cable-driven parallel robots and redundant rigid parallel robots
Comparison of internal force antagonism between redundant cable-driven parallel robots and redundant rigid parallel robots
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DOI：
10.1007/s11465-023-0767-x
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发表时间：
2023-11
影响因子：
4.5
通讯作者：
Yuheng Wang;Xiaoqiang Tang
中科院分区：
文献类型：
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作者：
Yuheng Wang;Xiaoqiang Tang
内力对抗问题是限制冗余度并联机器人在工业中应用和推广的重要问题之一。冗余度索驱动并联机器人（RCDPR）和冗余度刚性并联机器人（RRPR）在该问题中的表现非常不同。为厘清产业关联交易的本质，本研究首先分析产业关联交易产生的原因及影响因素。其次，提出了IFA的评价指标，并开发了其计算算法。在此基础上提出了三种基于该指标的图形分析方法。最后，分析了三种配置下IFA中RCDPR和RRPR的性能。结果表明，RRPRs几乎在工作空间的所有区域产生IFA，而RCDPRs仅在工作空间的某些区域产生IFA，并且RCDPRs中的IFA比RRPRs中的IFA温和。因此，RCDPR比RRPR更容错，更易于控制，因此更有利于工业应用和推广。所提出的分析方法可用于RCDPR的构型优化设计。
The internal force antagonism (IFA) problem is one of the most important issues limiting the applications and popularization of redundant parallel robots in industry. Redundant cable-driven parallel robots (RCDPRs) and redundant rigid parallel robots (RRPRs) behave very differently in this problem. To clarify the essence of IFA, this study first analyzes the causes and influencing factors of IFA. Next, an evaluation index for IFA is proposed, and its calculating algorithm is developed. Then, three graphical analysis methods based on this index are proposed. Finally, the performance of RCDPRs and RRPRs in IFA under three configurations are analyzed. Results show that RRPRs produce IFA in nearly all the areas of the workspace, whereas RCDPRs produce IFA in only some areas of the workspace, and the IFA in RCDPRs is milder than that RRPRs. Thus, RCDPRs more fault-tolerant and easier to control and thus more conducive for industrial application and popularization than RRPRs. Furthermore, the proposed analysis methods can be used for the configuration optimization design of RCDPRs.