Abstract
Cable-driven parallel robots (CDPRs) have been widely used in many industrial fields, especially in specialized industrial fields requiring high precision control. This paper presents the dynamic modeling and cable tension analysis of redundantly restrained cable-driven parallel robots (RRPRs). The Coulomb friction and Dahl friction model were proposed to predict the friction between the cable and the pulley. According to the friction models, a dynamic equation of RRPR considering the dynamic pulley bearing friction is derived. For the two friction models, the influence of various parameters on the tension and friction are analyzed. It is demonstrated that the Dahl friction model has a high accuracy when the moving platform is at a low speed or the speed direction changes rapidly, the friction and the cable tension can achieve a smooth transition. In particular, the Dahl friction model can better describe the actual change of friction.
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Acknowledgements
The work is supported by National Natural Science Foundation of China Civil Aviation Joint Foundation Cultivation Project (U1833108).
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Hong, Z., Ren, X., Xing, Z., Zhang, G. (2020). Dynamic Modeling and Tension Analysis of Redundantly Restrained Cable-Driven Parallel Robots Considering Dynamic Pulley Bearing Friction. In: Wang, Y., Martinsen, K., Yu, T., Wang, K. (eds) Advanced Manufacturing and Automation IX. IWAMA 2019. Lecture Notes in Electrical Engineering, vol 634. Springer, Singapore. https://doi.org/10.1007/978-981-15-2341-0_23
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DOI: https://doi.org/10.1007/978-981-15-2341-0_23
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