Optimal solution method for the cable catenary between cable-driven parallel robots

doi:10.16511/j.cnki.qhdxxb.2020.26.019

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Abstract Accurate dynamic models are difficult to develop for long-span cable-driven parallel robots. This paper presents a reduced dimension optimization method for designing nonlinear cable catenaries. This paper gives the differential equation for the catenary and its boundary conditions. The dimension of the transcendental equation of the catenary model was then reduced according to the boundary conditions with the analytical solution obtained using the substitution method and the Taylor expansion method. Then, the Newton method was used to numerically solve the catenary model to study the range and characteristics of the numerical solution. Finally, the effectiveness of the reduced dimension optimization method are verified by examples. This research provides a theoretical basis for accurate dynamic modeling and real-time motion stability control strategies for cable-driven parallel mechanisms.

Keywords cable-driven parallel robots cables catenary models analytic solutions numerical solutions

Issue Date: 06 March 2021

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	WEI Huiling
	QIU Yuanying
	SHENG Ying
	CHEN Haichu
	LU Qinghua

Cite this article:

WEI Huiling,QIU Yuanying,SHENG Ying, et al. Optimal solution method for the cable catenary between cable-driven parallel robots[J]. Journal of Tsinghua University(Science and Technology), 2021, 61(3): 224-229.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2020.26.019 OR http://jst.tsinghuajournals.com/EN/Y2021/V61/I3/224

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