A Versatile Tension Distribution Algorithm for $n$ -DOF Parallel Robots Driven by $n+2$ Cables

PROJECT TITLE :

A Versatile Tension Distribution Algorithm for $n$ -DOF Parallel Robots Driven by $n+2$ Cables

ABSTRACT:

Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) needs the computation of possible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n + two cables, since, for n = half dozen, these redundantly actuated CDPRs are relevant in several applications. The set of feasible cable tensions of n-DOF (n + two)-cable CDPRs could be a a pair of-D convex polygon. An algorithm that determines the vertices of this polygon in a very clockwise or counterclockwise order is initial introduced. This algorithm is economical and can house infeasibility. It's then discerned that straightforward modifications of this algorithm enable the determination of various (optimal) cable tension distributions. A self-contained and versatile tension distribution algorithm is thereby obtained. Moreover, the worst-case maximum range of iterations of this algorithm is established. Primarily based on this result, its computational cost is analyzed intimately, showing that the algorithm is efficient and real-time compatible even in the worst case. Finally, experiments on two six-degree-of-freedom eight-cable CDPR prototypes are reported.

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