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Tension Optimization of a Cable-Driven Coupling Manipulator Based on Robot Dynamics with Cable Elasticity

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11742))

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Abstract

This paper presents a method for tension optimization of a 3-DOF planar cable-driven coupling manipulator based on robot dynamics which contains cable elasticity. The robot is driven by two independent actuated cables, the cables are modeled as axial linear springs. The key point is to minimize cable tension in case of breakage, at the same time always keeping a positive value to avoid slack behavior. By using Pseudo spectral algorithm and considering robot dynamics equation as constraint, cable tension is optimized in force and cable length control mode respectively. The simulation results show effectiveness of the optimization algorithm.

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Acknowledgement

Research supported in part by the China Postdoctoral Science Foundation under Grant 2018M631473, in part by the National Natural Science Foundation of China under Grant 61673239, in part by the Guangdong Natural Science Foundation under Grant 2018A030310679, and in part by the Basic Research Program of Shenzhen under Grant JCYJ20170412171459177 and Grant JCYJ20180306174321766.

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Authors and Affiliations

  1. Harbin Institute of Technology, Harbin, 150000, China

    Yanan Li & Yu Liu

  2. Yingkou Vocational and Technical College, 115000, Yingkou, China

    Ying Li

  3. Tsinghua University, Graduate School at Shenzhen, Shenzhen, 518055, China

    Deshan Meng & Xueqian Wang

  4. National Laboratory for Information Science and Technology, Tsinghua University, Beijing, 100084, China

    Bin Liang

Authors
  1. Yanan Li
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  2. Ying Li
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  3. Deshan Meng
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  4. Yu Liu
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  5. Xueqian Wang
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  6. Bin Liang
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Corresponding author

Correspondence to Yu Liu .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Li, Y., Li, Y., Meng, D., Liu, Y., Wang, X., Liang, B. (2019). Tension Optimization of a Cable-Driven Coupling Manipulator Based on Robot Dynamics with Cable Elasticity. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_36

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  • DOI: https://doi.org/10.1007/978-3-030-27535-8_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27534-1

  • Online ISBN: 978-3-030-27535-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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