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Rapid and safe wire tension distribution scheme for redundant cable-driven parallel manipulators

Published online by Cambridge University Press:  07 December 2021

Mohammad Reza Mousavi ,
Masoud Ghanbari ,
S. Ali A. Moosavian  and
Payam Zarafshan Open the ORCID record for Payam Zarafshan [Opens in a new window]
Mohammad Reza Mousavi
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Laboratory, Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Masoud Ghanbari
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Laboratory, Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
S. Ali A. Moosavian
Affiliation:
Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Laboratory, Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Payam Zarafshan*
Affiliation:
Department of Agro-Technology, College of Aburaihan, University of Tehran, Pakdasht, Tehran, Iran
*
*Corresponding author. E-mail: p.zarafshan@ut.ac.ir
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Abstract

A non-iterative analytical approach is investigated to plan the safe wire tension distribution along with the cables in the redundant cable-driven parallel robots. The proposed algorithm considers not only tracking the desired trajectory but also protecting the system against possible failures. This method is used to optimize the non-negative wire tensions through the cables which are constrained based on the workspace conditions. It also maintains both actuators’ torque and cables’ tensile strength boundary limits. The pseudo-inverse problem solution leads to an n-dimensional convex problem, which is related to the robot degrees of redundancy. In this paper, a comprehensive solution is presented for a 1–3 degree(s) of redundancy in wire-actuated robots. To evaluate the effectiveness of this method, it is verified through an experimental study on the RoboCab cable robot in the infinity trajectory tracking task. As a matter of comparison, some standard methods like Active-set and sequential quadratic programming are also presented and the average elapsed time for each method is compared to the proposed algorithm.

Keywords

cable tension distributionredundant manipulatorsconvex problem
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2395 - 2408
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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