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Article: Exact kinematic modeling and identification of reconfigurable cable-driven robots with dual-pulley cable guiding mechanisms

TitleExact kinematic modeling and identification of reconfigurable cable-driven robots with dual-pulley cable guiding mechanisms
Authors
KeywordsCable-driven parallel robot (CDPR)
Cable guiding mechanism (CGM)
Kinematics
Identification jacobian
Calibration
Issue Date2019
Citation
IEEE/ASME Transactions on Mechatronics, 2019, v. 24, n. 2, p. 774-784 How to Cite?
AbstractCable guiding mechanisms (CGMs) directly influence the reconfigurability of cable-driven parallel robots (CDPRs). But due to the complicated kinematic model of pulley-based CGMs, the velocity and acceleration mappings from the moving platform (MP) to the cables were unknown, the continuity of cable velocity, acceleration, and tension was unguaranteed, and the calibration pose-search method was based on inaccurate CGM models. In this paper, we establish an analytic and compact model for CGM. Based on this model, the velocity and acceleration mappings from the MP to the cables are derived. The continuities of cable trajectory and tension are proved. The exact identification Jacobian and its derivative are also formulated, leading to the increased fidelity of pose-search methods. The proposed method and formulations are verified by simulations and experiments on a redundant CDPR.
Persistent Identifierhttp://hdl.handle.net/10722/303004
ISSN
2023 Impact Factor: 6.1
2023 SCImago Journal Rankings: 2.133
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWang, Hongbo-
dc.contributor.authorKinugawa, Jun-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:43:00Z-
dc.date.available2021-09-07T08:43:00Z-
dc.date.issued2019-
dc.identifier.citationIEEE/ASME Transactions on Mechatronics, 2019, v. 24, n. 2, p. 774-784-
dc.identifier.issn1083-4435-
dc.identifier.urihttp://hdl.handle.net/10722/303004-
dc.description.abstractCable guiding mechanisms (CGMs) directly influence the reconfigurability of cable-driven parallel robots (CDPRs). But due to the complicated kinematic model of pulley-based CGMs, the velocity and acceleration mappings from the moving platform (MP) to the cables were unknown, the continuity of cable velocity, acceleration, and tension was unguaranteed, and the calibration pose-search method was based on inaccurate CGM models. In this paper, we establish an analytic and compact model for CGM. Based on this model, the velocity and acceleration mappings from the MP to the cables are derived. The continuities of cable trajectory and tension are proved. The exact identification Jacobian and its derivative are also formulated, leading to the increased fidelity of pose-search methods. The proposed method and formulations are verified by simulations and experiments on a redundant CDPR.-
dc.languageeng-
dc.relation.ispartofIEEE/ASME Transactions on Mechatronics-
dc.subjectCable-driven parallel robot (CDPR)-
dc.subjectCable guiding mechanism (CGM)-
dc.subjectKinematics-
dc.subjectIdentification jacobian-
dc.subjectCalibration-
dc.titleExact kinematic modeling and identification of reconfigurable cable-driven robots with dual-pulley cable guiding mechanisms-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TMECH.2019.2899016-
dc.identifier.scopuseid_2-s2.0-85064621174-
dc.identifier.volume24-
dc.identifier.issue2-
dc.identifier.spage774-
dc.identifier.epage784-
dc.identifier.eissn1941-014X-
dc.identifier.isiWOS:000465250500033-

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