| MECHANICAL ENGINEERING |
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Characteristics of controllable stiffness for cable-driven parallel robots |
| CUI Zhiwei1, TANG Xiaoqiang1,2,3, HOU Senhao1, XIANG Chengyuan1 |
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China;
3. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, Beijing 100084, China |
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Abstract Human-robot interaction include some safety threats to people or products from the robots due to their stiffness. The characteristics of controllable stiffness for cable-driven parallel robots are studied using a static stiffness analysis and cable tension distribution method. The robot kinematics and statics equations are used for the force analysis with the three-dimensional Hessian matrix of the structural matrix to position differential is deduced by introducing a line vector and a differential transform. Then, the static stiffness model is derived for the relationship between the cable tension and the robot stiffness. The robots stiffness is then controlled by analyzing the cable tension polygon and the cable tension distribution. Simulations show that this method can effectively control the robot stiffness.
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| Keywords
cable-driven parallel robot
static stiffness
controllable stiffness
stiffness matrix
cable tension distribution
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Issue Date: 15 February 2018
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2018,
Vol. 58
