Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot

Chen, Q; Lin, Q; Wei, G; Ren, L

Abstract

This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better force measurement device. Kinematics and dynamics for a CDPR of n-DOF are deduced and formulated, and algorithms for calculating the cable tension are developed. Then, by defining geometrical parameters related to the dimensions and configurations of the CDPRs, optimal methods for determining force sensitivity with respect to the structure matrix and twist vector of the 6-DOF CDPRs with two different moving platforms (i.e. a cubic-shaped, and a flat moving platform) are proposed. By using numerical examples integrated with external twists obtained from wind tunnel tests, simulations and analysis for the two type of 6-DOF CDPRs are carried out. The simulation results help identify the optimal dimensions that can be used to design 6-DOF-CDPR-based force measuring devices with high force sensitivity. Experiment validation is also conducted to verify the method proposed in this paper.

Citation

Chen, Q., Lin, Q., Wei, G., & Ren, L. (2022). Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 236(1), 100-114. https://doi.org/10.1177/09544062211026344

• Journal Article Type: Article
• Acceptance Date: May 14, 2021
• Online Publication Date: Sep 30, 2021
• Publication Date: Jan 1, 2022
• Deposit Date: Oct 13, 2021
• Publicly Available Date: Oct 13, 2021
• Journal: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
• Print ISSN: 0954-4062
• Electronic ISSN: 2041-2983
• Publisher: SAGE Publications
• Volume: 236
• Issue: 1
• Pages: 100-114
• DOI: https://doi.org/10.1177/09544062211026344
• Publisher URL: https://doi.org/10.1177/09544062211026344
• Related Public URLs: http://www.uk.sagepub.com/journals/Journal202017
• Additional Information: Additional Information : ** From Crossref journal articles via Jisc Publications Router **Journal IDs: pissn 0954-4062; eissn 2041-2983 **History: issued 30-09-2021; published_online 30-09-2021; Access Information : Users who receive access to an article through a repository are reminded that the article is protected by copyright and reuse is restricted to non-commercial and no derivative uses. Users may also download and save a local copy of an article accessed in an institutional repository for the user's personal reference.; Funders : National Natural Science Foundation of China;Scientific Research Foundation of Jimei University of China and the Application;Educational Research Projects of Young and Middle-aged Teachers in Fujian Province of China;Training Program of Fujian Excellent Talents in University; Projects : 12072304; Grant Number: 12072304; Grant Number: ZQ2019045; Grant Number: JT180267