A Kinematic-Decouple Model for Cable-Driven Manipulators with Series-Parallel Coupling Relationship

A Kinematic-Decouple Model for Cable-Driven Manipulators with Series-Parallel Coupling Relationship

The kinematic model of cable-driven manipulators is more complicated than conventional robots due to the series-parallel coupling relationship. In this article, the kinematic-decouple model is proposed, which considers the series and parallel relationships of cable-driven manipulators. Firstly, the...

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Veröffentlicht in:Mechanics of solids 2023-06, Vol.58 (3), p.912-921
Hauptverfasser: Jia, Lihui, Zhang, Luyang, Mu, Zonggao, Gao, Mingwang, Zhang, Naijun, Song, Rujun
Format: Artikel
Sprache:eng
Schlagworte:
Cables
Classical Mechanics
Coupling
Iterative methods
Kinematics
Manipulators
Physics
Physics and Astronomy
Robot arms
Task space
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container_issue 3
container_start_page 912
container_title Mechanics of solids
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creator Jia, Lihui
Zhang, Luyang
Mu, Zonggao
Gao, Mingwang
Zhang, Naijun
Song, Rujun
description The kinematic model of cable-driven manipulators is more complicated than conventional robots due to the series-parallel coupling relationship. In this article, the kinematic-decouple model is proposed, which considers the series and parallel relationships of cable-driven manipulators. Firstly, the parallel relationship between cables and joints is analyzed based on characteristics of the structure. The series relationship of the cable-driven manipulator is solved by the Jacobi pseudo-inverse iterative method. The mapping relationship is established among task space, joint space, and driving space. Then, the configuration and end-trajectory of cable-driven manipulators are both simulated. Finally, the experiment proves the effectiveness of the kinematic-decouple model.
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subjects Cables
Classical Mechanics
Coupling
Iterative methods
Kinematics
Manipulators
Physics
Physics and Astronomy
Robot arms
Task space
title A Kinematic-Decouple Model for Cable-Driven Manipulators with Series-Parallel Coupling Relationship
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