Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator
Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator
复制标题
缆绳悬挂并联机械臂非光滑动力学分析及实验验证
DOI：
10.1177/0954406211435585
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发表时间：
2012-01
期刊：
影响因子：
--
通讯作者：
曹国华
中科院分区：
文献类型：
--
作者：
邵杏国;朱真才;Qing-Guo Wan;Peter CY Chen;訾斌;曹国华
The cable-suspended parallel manipulator replaces the rigid links of traditional parallel robot. The unilateral property of the cable complicates the dynamic analysis of such manipulator and further induces difficulty in control problem. The set-valued tension law is proposed to model the unilateral constraint of the cable, and the dynamics of cable-suspended parallel manipulator is analyzed in the framework of non-smooth dynamics. The resulting non-smooth dynamics model consists of a set of differential–algebraic equations with inequality constraints. Its solution is found by the Moreau midpoint method. An experimental setup was established to verify and validate the effectiveness and accuracy of non-smooth dynamics. And the simulation results generally agree with the experimental results, which demonstrate that the non-smooth dynamics is effective and reasonable for the dynamic analysis of the cable-suspended parallel manipulator. The results of this article deeply reveal the dynamics of the cable-suspended parallel manipulator, and may be used to design more accurate controller for its trajectory control.
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DOI：
10.1243/095440605x31562
发表时间：
2006-03
期刊：
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
影响因子：
--
作者：
J. Slavič;M. Boltežar
通讯作者：
J. Slavič;M. Boltežar
影响因子：
2.7
作者：
F. Pfeiffer
通讯作者：
F. Pfeiffer
DOI：
10.1007/978-0-387-74759-0_333
发表时间：
2009
期刊：
--
影响因子：
--
作者：
R. Cottle
通讯作者：
R. Cottle
DOI：
10.1002/zamm.200510288
发表时间：
2006-10
期刊：
ZAMM ‐ Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik
影响因子：
--
作者：
S. Ebrahimi;P. Eberhard
通讯作者：
S. Ebrahimi;P. Eberhard
影响因子：
2.8
作者：
C. Glocker;Friedrich Pfeiffer
通讯作者：
C. Glocker;Friedrich Pfeiffer