Evaluating cable tension distributions of CDPR for virtual reality motion simulator

Article Automation & Control Systems

Dual-Loop Dynamic Control of Cable-Driven Parallel Robots Without Online Tension Distribution

Bin Zhang et al.

Summary: This article proposes a novel dual-loop dynamic control scheme for high-precision position control in cable-driven parallel robots. The scheme consists of a tension control loop and a position control loop, with offline tension distribution and robust synchronization method to ensure accurate control. The experiments demonstrate that the proposed scheme significantly reduces tracking errors, while maintaining cable tension and exhibiting strong disturbance rejection ability.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2022)

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Article Chemistry, Multidisciplinary

Dynamic and Wrench-Feasible Workspace Analysis of a Cable-Driven Parallel Robot Considering a Nonlinear Cable Tension Model

Vu N. D. Kieu et al.

Summary: This study proposed a design model for a CDPR system, conducted kinematic and dynamic modeling of the system, and performed experiments to identify the dynamic modulus of elastic cables. A modified kinematic equation considering cable nonlinear tension was developed to determine the optimal cable tension at each position of the end-effector, and the wrench-feasible workspace was analyzed at various motion accelerations.

APPLIED SCIENCES-BASEL (2022)

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Article Robotics

A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

Joao Cavalcanti Santos et al.

Summary: This article proposes a nonlinear model predictive control strategy for the position tracking of CDPRs, and its effectiveness is experimentally validated.

IEEE TRANSACTIONS ON ROBOTICS (2022)

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Review Engineering, Multidisciplinary

An Overview of Cable-Driven Parallel Robots: Workspace, Tension Distribution, and Cable Sagging

Tuong Phuoc Tho et al.

Summary: This paper summarizes published studies on cable-driven parallel robots (CDPRs) and focuses on classifying and analyzing methods used to calculate important issues in the process of calculating and designing CDPRs. The efficiency of these calculation methods is also analyzed and evaluated based on the mathematical theories of kinematics and dynamics of CDPRs. The content of this study is an effective reference for studies on important problems in the process of designing and implementing CDPRs, helping researchers shorten the time to review related topics.

MATHEMATICAL PROBLEMS IN ENGINEERING (2022)

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Article Robotics

Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency

Einar Ueland et al.

Summary: In this article, a novel method for force allocation for overconstrained cable-driven parallel robot setups is presented, ensuring continuously differentiable cable forces and allowing for small penalized errors in the resulting wrench. A bound on the error under certain assumptions is also provided. Real-time feasibility is studied through numerical simulations on a large set of configurations.

IEEE TRANSACTIONS ON ROBOTICS (2021)

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Article Mechanics

Three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot with non-negligible cable mass and elasticity

Zemichael Amare et al.

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES (2018)

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Proceedings Paper Engineering, Mechanical

CONTROL SOLUTION FOR A CABLE DRIVEN PARALLEL ROBOT WITH HIGHLY VARIABLE PAYLOAD

Etienne Picard et al.

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5B (2018)

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Article Robotics