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Rapid optimization of tension distribution for cable-driven parallel manipulators with redundant cables

  • Mechanism and Robotics
  • Published:
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Abstract

The solution of tension distributions is infinite for cable-driven parallel manipulators(CDPMs) with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom(6-DOF) CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.

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Authors and Affiliations

  1. Department of Automation, University of Science and Technology of China, Hefei, 230027, China

    Bo Ouyang & Weiwei Shang

Authors
  1. Bo Ouyang
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  2. Weiwei Shang
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Corresponding author

Correspondence to Weiwei Shang.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51275500), Research Project of State Key Laboratory of Mechanical System and Vibration(Grant No. MSV201502), USTC-COOGOO Robotics Research Center(Grant No. 2015), and Youth Innovation Promotion Association of Chinese Academy of Sciences(Grant No. 2012321)

Biographical notes

OUYANG Bo, born in 1989, is currently a master candidate at Department of Automation, University of Science and Technology of China. He received his bachelor degree from Southwest University, China, in 2011. His research interests include parallel robot and optimization.

SHANG Weiwei, born in 1981, is currently an associate professor at Department of Automation, University of Science and Technology of China. He received his PhD degree from University of Science and Technology of China, in 2008. His research interests include parallel robots, humanoid robots and robot vision.

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Ouyang, B., Shang, W. Rapid optimization of tension distribution for cable-driven parallel manipulators with redundant cables. Chin. J. Mech. Eng. 29, 231–238 (2016). https://doi.org/10.3901/CJME.2015.1120.137

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  • DOI: https://doi.org/10.3901/CJME.2015.1120.137

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