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

  • Yanan Li
  • Ying Li
  • Deshan Meng
  • Yu LiuEmail author
  • Xueqian Wang
  • Bin Liang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11742)


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.


Tension 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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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yanan Li
    • 1
  • Ying Li
    • 2
  • Deshan Meng
    • 3
  • Yu Liu
    • 1
    Email author
  • Xueqian Wang
    • 3
  • Bin Liang
    • 4
  1. 1.Harbin Institute of TechnologyHarbinChina
  2. 2.Yingkou Vocational and Technical CollegeYingkouChina
  3. 3.Tsinghua UniversityGraduate School at ShenzhenShenzhenChina
  4. 4.National Laboratory for Information Science and TechnologyTsinghua UniversityBeijingChina

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