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| Forward equilibrium position analysis of cable-driven parallel robot |
| Received:October 21, 2008 |
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| DOI：10.7511/jslx20105018 |
| KeyWord:cable-driven parallel robot catenary forward position solution statics |
| Author | Institution |
| 杜敬利 |
西安电子科技大学 机电工程学院,西安 |
| 段宝岩 |
西安电子科技大学 机电工程学院,西安 |
| 保宏 |
西安电子科技大学 机电工程学院,西安 |
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| Abstract: |
| The forward position problem of a long-span, slowly moving cable-driven parallel robot is investigated in the paper. The robot can be considered as in an equilibrium state due to its slow motion. However, the effects of cable sag need to be taken into account because of its long span. Forward equilibrium problem of such a cable-driven parallel robot is determining the position and orientation of the end-effector when the cable lengths are known, and the position and orientation can keep the robot in an equilibrium state. This involves the nonlinear mechanics solution of a cable-driven robot instead of only a geometrical problem involved. In the paper, characteristics of a sagged cable are described by catenary equation. The incremental relation between the displacement of the end-effector and the change of cable length is deduced when the relation between the displacement of end-effector and that of cable end achieved. According to the relation, an iterative method to obtain the forward solution is presented. Numerical examples validate the method proposed. |
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