A geometrical workspace calculation method for cable-driven parallel manipulators on minimum tension condition
A geometrical workspace calculation method for cable-driven parallel manipulators on minimum tension condition
复制标题
DOI：
10.1080/01691864.2016.1185965
复制
发表时间：
2016-05
影响因子：
2
通讯作者：
Xiaoqiang Tang;Weifang Wang;Lewei Tang
中科院分区：
文献类型：
--
作者：
Xiaoqiang Tang;Weifang Wang;Lewei Tang
摘要：本文提出并证明了一种描述 2-DoF 平面缆索驱动并联机械臂 (CDPM) 张力总和（即最小 1-范数张力）的几何表达式，该几何表达式可用于减少工作空间确定的计算时间。此外，本文还利用凸分析的方法对缆索张力与工作空间的关系进行了系统分析。为了获得扳手可行的工作空间，在不同配置的空间CDPM的仿真实例中采用了统一且可行的算法，这表明所提出的方法计算工作空间是有效且简单的。
Abstract In this paper, a geometrical expression to delineate the sum of tensions (i.e. minimum 1-norm tensions) of 2-DoF planar cable-driven parallel manipulators (CDPMs) is proposed and proofed, which can be used to reduce calculation time of workspace determination. Furthermore, this paper also presents a systematic analysis on the relation between cable tension and workspace by means of convex analysis. In order to obtain wrench-feasible workspace, a unified and feasible algorithm is adopted in simulation examples of spatial CDPMs with different configurations, which demonstrate that the proposed method is valid and straightforward to calculate workspace.