 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
|
| In English (Mech. Solids): | | 4760 |
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| Lihui Jia, Luyang Zhang, Zonggao Mu, Mingwang Gao, Naijun Zhang, and Rujun Song, "A Kinematic-Decouple Model for Cable-Driven Manipulators with Series-Parallel Coupling Relationship," Mech. Solids. 58 (3), 912-921 (2023) |
| Year |
2023 |
Volume |
58 |
Number |
3 |
Pages |
912-921 |
| DOI |
10.3103/S0025654423700097 |
| Title |
A Kinematic-Decouple Model for Cable-Driven Manipulators with Series-Parallel Coupling Relationship |
| Author(s) |
Lihui Jia (School of Mechanical Engineering & Shandong Provincial Key Laboratory of Precision Manufacturing and Non-traditional Machining, Shandong University of Technology, Zibo, 255000 China)
Luyang Zhang (School of Mechanical Engineering & Shandong Provincial Key Laboratory of Precision Manufacturing and Non-traditional Machining, Shandong University of Technology, Zibo, 255000 China)
Zonggao Mu (School of Mechanical Engineering & Shandong Provincial Key Laboratory of Precision Manufacturing and Non-traditional Machining, Shandong University of Technology, Zibo, 255000 China; School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055 China; Shandong Jite Industrial Technology Company Limited, Rizhao, 262300 China, muzonggao@163.com)
Mingwang Gao (School of Mechanical Engineering & Shandong Provincial Key Laboratory of Precision Manufacturing and Non-traditional Machining, Shandong University of Technology, Zibo, 255000 China)
Naijun Zhang (Shandong Jite Industrial Technology Company Limited, Rizhao, 262300 China)
Rujun Song (School of Mechanical Engineering & Shandong Provincial Key Laboratory of Precision Manufacturing and Non-traditional Machining, Shandong University of Technology, Zibo, 255000 China) |
| Abstract |
The kinematic model of cable-driven manipulators is more complicated than conventional robots due to the series-parallel coupling relationship. In this article, the kinematic-decouple model is proposed, which considers the series and parallel relationships of cable-driven manipulators. Firstly, the parallel relationship between cables and joints is analyzed based on characteristics of the structure. The series relationship of the cable-driven manipulator is solved by the Jacobi pseudo-inverse iterative method. The mapping relationship is established among task space, joint space, and driving space. Then, the configuration and end-trajectory of cable-driven manipulators are both simulated. Finally, the experiment proves the effectiveness of the kinematic-decouple model. |
| Keywords |
cable-driven manipulator, kinematics, series-parallel coupling |
| Received |
01 February 2023 | Revised |
04 March 2023 | Accepted |
10 March 2023 |
| Link to Fulltext |
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