Stability sensitivity of a completely restrained 3-DOF cable-driven parallel robot with four long-span cables

LIU Peng; QIAO Xinzhou

doi:10.16511/j.cnki.qhdxxb.2022.26.004

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Journal of Tsinghua University(Science and Technology) ›› 2022, Vol. 62 ›› Issue (9) : 1548-1558. DOI: 10.16511/j.cnki.qhdxxb.2022.26.004

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Stability sensitivity of a completely restrained 3-DOF cable-driven parallel robot with four long-span cables

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Abstract

The stability of a completely restrained 3-DOF cable-driven parallel robot with four long-span cables, due to the flexibility and unidirectional restraint characteristics of the cables, as well as the influence of the large-span cable sags, faces severe challenges. This paper establishes the stability evaluation model and stability sensitivity analysis model for the robot, explores and analyzes the influence of the end-effector positions and the cable tensions on the stability of the robot. Firstly, based on kinematics and dynamics model of the robot, the stability position influence factor and the cable tension influence factor are proposed, and furthermore, the stability evaluation model is established. Secondly, the gray correlation analysis method is used to establish the stability sensitivity analysis model for the robot, and it is proposed to use the correlation degree to study and measure the influence degree of the end-effector positions and cable tensions on the stability of the robot. Finally, the established stability evaluation model and sensitivity analysis model are simulated for a cable-driven camera robot with four long-span cables. The research results show that the stability of the camera robot is more sensitive to cable tension influence factors. Among them, the stability has the smallest correlation to the y-direction displacement of the camera platform. This research provides guidance for the robust optimization design of the motion trajectory and motion control for the robot.

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cable-driven parallel robot / stability / sensitivity / grey correlation analysis

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LIU Peng, QIAO Xinzhou. Stability sensitivity of a completely restrained 3-DOF cable-driven parallel robot with four long-span cables[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(9): 1548-1558 https://doi.org/10.16511/j.cnki.qhdxxb.2022.26.004

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