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Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator

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Abstract

With the advantage of large workspace, low energy consumption and small inertia, the cable-driven parallel manipulator (CDPM) is suitable for heavy workpieces in rapid velocity and acceleration. We present a workspace analysis approach to solve force and torque equilibriums of completely restrained CDPMs. By this approach, not only the distribution but also the value of tensions driven by cables is investigated together. Two new indices, all cable tension distribution index (ACTDI) and area of the global quality workspace (AG) are proposed to evaluate the quality of the workspace. By concentrating on the workspace and its quality combined with the tension characteristics, these criteria are used to determine the optimal workspace in CDPMs. To verify the capacity of the proposed method, simulation examples are presented and the results demonstrate the approach’s effectiveness. In the end, the dimensional design for a planar CDPM is discussed with the indices of workspace quality.

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Authors and Affiliations

  1. The State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Xiaoqiang Tang, Lewei Tang & Jinsong Wang

  2. School of Aeronautics and Astronautics Engineering, Purdue University, West Lafayette, IN, 47907-2045, USA

    Dengfeng Sun

Authors
  1. Xiaoqiang Tang
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  2. Lewei Tang
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  3. Jinsong Wang
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  4. Dengfeng Sun
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Correspondence to Xiaoqiang Tang.

Additional information

Recommended by Associate Editor Ki-Hoon Shin

Xiaoqiang Tang received the B.S. and M.S. in Mechanical Engineering from Harbin University of Science and Technology, Harbin, China, in 1995 and 1998, respectively, and the Ph.D. in Mechanical Engineering from Tsinghua University, Beijing, in 2001. He is currently an Associate Professor in the Department of Mechanical Engineering, Institute of Manufacturing Engineering, Tsinghua University. His research interests include parallel manipulators, robots, and reconfigurable manufacturing technology.

Lewei Tang received the B.S. in Mechanical Engineering from Xi’an Jiaotong University, Xi’an, China, in 2010. He is currently working toward the Ph.D. in the Department of Mechanical Engineering, Institute of Manufacturing Engineering, Tsinghua University, Beijing. His research interests include parallel manipulators, cable-driven parallel manipulators, stiffness analysis and accuracy.

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Tang, X., Tang, L., Wang, J. et al. Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator. J Mech Sci Technol 27, 2391–2399 (2013). https://doi.org/10.1007/s12206-013-0624-7

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  • DOI: https://doi.org/10.1007/s12206-013-0624-7

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