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A new computation method for the force-closure workspace of cable-driven parallel manipulators

Published online by Cambridge University Press:  05 March 2014

Bo Ouyang  and
Wei-Wei Shang
Bo Ouyang
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P.R. ChinaState Key Laboratory of Robotics and System (HIT), Harbin 150080, P.R. China
Wei-Wei Shang*
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P.R. ChinaState Key Laboratory of Robotics and System (HIT), Harbin 150080, P.R. China
*
*Corresponding author. E-mail: [email protected]
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Summary

For cable-driven parallel manipulators (CDPMs), it is known that maintaining positive cable tension is critical in constraining the moving platform. Hence, the force-closure workspace of CDPMs represents a set of poses where the cable tensions can balance arbitrary external wrench applied on the moving platform, proposed by researchers. A new computation method for the force-closure workspace of CDPMs is developed in this paper, and the new method is realized by calculating the null space of the structure matrix and solving the linear matrix inequalities. The detailed calculation procedures of the force-closure workspace for the incompletely restrained, completely restrained, and redundantly restrained CDPMs are given, respectively, and the advantages of the new method are analyzed according to the time complexity. The simulation experiments of the force-closure workspace computation are implemented on a six-degree of freedom (6-DOF) CDPM with eight cables, and then the superiority of the new method over the existing algorithm is studied.

Keywords

Cable-driven parallel manipulatorsForce-closure workspaceNull space of matrixLinear matrix inequalities
Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 537 - 547
Copyright
Copyright © Cambridge University Press 2014 

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