Tension Optimization for a Cable-driven Parallel Robot with Non- Negligible Cable Mass

Peng Liu, Yuanying Qiu
2015 Open Automation and Control Systems Journal  
This paper addresses the cable tension distributions of a cable-driven parallel robot with non-negligible cable mass for large dimension mechanisms. A well-known model which describes the profile of a cable under the action of its own weight allows us to take the cable sags into account. In addition, an approach to computing the cable tensions is presented, in which there are two major steps to obtain the cable tensions. In more detail, the first one is an iterative process for obtaining the
more » ... or obtaining the iterative cable tensions, while the other one is the optimization of the cable tensions obtained by the first step. Finally, a large scale cable-driven manipulator currently under development is analyzed. The results show that cable sags have a significant effect on the cable tensions of such manipulators. This is an open access article licensed under the terms of the (https://creativecommons.org/licenses/by/4.0/legalcode), which permits unrestricted, non-commercial use, distribution and reproduction in any medium, provided the work is properly cited.
doi:10.2174/1874444301507011973 fatcat:rjxrpxwayrbu7ewwlog7ld2mym