Tension Optimization of a Cable-Driven Coupling Manipulator Based on Robot Dynamics with Cable Elasticity
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.
KeywordsTension optimization Cable-driven Elasticity Dynamics
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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