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Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support

Published online by Cambridge University Press:  19 October 2015

Xingwei Zhao ,
Bin Zi  and
Lu Qian
Xingwei Zhao*
Affiliation:
Chair of Mechatronics and Machine Dynamics, Technical University of Berlin, 10587, Berlin, Germany
Bin Zi
Affiliation:
School of Mechanical and Automotive Engineering, Hefei University of Technology, 230009, Hefei, P. R. China. [email protected]
Lu Qian
Affiliation:
Institute of Automatic Control and Complex Systems, University of Duisburg-Essen, 47057, Duisburg, Germany. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

The neck is an important part of the body that connects the head to the torso, supporting the weight and generating the movement of the head. In this paper, a cable-driven parallel platform with a pneumatic muscle active support (CPPPMS) is presented for imitating human necks, where cable actuators imitate neck muscles and a pneumatic muscle actuator imitates spinal muscles, respectively. Analyzing the stiffness of the mechanism is carried out based on screw theory, and this mechanism is optimized according to the stiffness characteristics. While taking the dynamics of the pneumatic muscle active support into consideration as well as the cable dynamics and the dynamics of the Up-platform, a dynamic modeling approach to the CPPPMS is established. In order to overcome the flexibility and uncertainties amid the dynamic model, a sliding mode controller is investigated for trajectory tracking, and the stability of the control system is verified by a Lyapunov function. Moreover, a PD controller is proposed for a comparative study. The results of the simulation indicate that the sliding mode controller is more effective than the PD controller for the CPPPMS, and the CPPPMS provides feasible performances for operations under the sliding mode control.

Keywords

NeckCable-driven parallel platformPneumatic muscleStiffnessDynamicsSliding mode control
Type
Articles
Information
Robotica , Volume 35 , Issue 4 , April 2017 , pp. 744 - 765
Copyright
Copyright © Cambridge University Press 2015 

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