Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism
In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distribution for a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to construct modular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables are emp...
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doaj-81f8a26bc73541b99952ae43bbc7be172020-11-25T01:22:45ZengMDPI AGSymmetry2073-89942019-09-01119115810.3390/sym11091158sym11091158Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven MechanismKaisheng Yang0Guilin Yang1Si-Lu Chen2Yi Wang3Chi Zhang4Zaojun Fang5Tianjiang Zheng6Chongchong Wang7Zhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaZhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo 315201, ChinaIn this paper, we focus on the issues pertaining to stiffness-oriented cable tension distribution for a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to construct modular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables are employed for position regulation by adjusting the cable lengths, and the remaining three cables are utilized for stiffness regulation by adjusting the cable tensions, i.e., the position and stiffness can be regulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device (VSD) is designed, which is serially connected to the driving cable. Since the stiffness model of the 6-CSJM with VSDs is very complicated, it is difficult to directly solve the cable tensions from the desired stiffness. The stiffness-oriented cable tension distribution issue is formulated as a nonlinear constrained optimization problem, and the Complex method is employed to obtain optimal tension distributions. Furthermore, to significantly improve the computation efficiency, a decision variable elimination technique is proposed to deal with the equality constraints, which reduces decision variables from 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposed method, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tension optimization.https://www.mdpi.com/2073-8994/11/9/1158cable-driven manipulatorredundant actuationvariable stiffnesstension distributionoptimization |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Kaisheng Yang Guilin Yang Si-Lu Chen Yi Wang Chi Zhang Zaojun Fang Tianjiang Zheng Chongchong Wang |
spellingShingle |
Kaisheng Yang Guilin Yang Si-Lu Chen Yi Wang Chi Zhang Zaojun Fang Tianjiang Zheng Chongchong Wang Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism Symmetry cable-driven manipulator redundant actuation variable stiffness tension distribution optimization |
author_facet |
Kaisheng Yang Guilin Yang Si-Lu Chen Yi Wang Chi Zhang Zaojun Fang Tianjiang Zheng Chongchong Wang |
author_sort |
Kaisheng Yang |
title |
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism |
title_short |
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism |
title_full |
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism |
title_fullStr |
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism |
title_full_unstemmed |
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism |
title_sort |
study on stiffness-oriented cable tension distribution for a symmetrical cable-driven mechanism |
publisher |
MDPI AG |
series |
Symmetry |
issn |
2073-8994 |
publishDate |
2019-09-01 |
description |
In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distribution for a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to construct modular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables are employed for position regulation by adjusting the cable lengths, and the remaining three cables are utilized for stiffness regulation by adjusting the cable tensions, i.e., the position and stiffness can be regulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device (VSD) is designed, which is serially connected to the driving cable. Since the stiffness model of the 6-CSJM with VSDs is very complicated, it is difficult to directly solve the cable tensions from the desired stiffness. The stiffness-oriented cable tension distribution issue is formulated as a nonlinear constrained optimization problem, and the Complex method is employed to obtain optimal tension distributions. Furthermore, to significantly improve the computation efficiency, a decision variable elimination technique is proposed to deal with the equality constraints, which reduces decision variables from 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposed method, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tension optimization. |
topic |
cable-driven manipulator redundant actuation variable stiffness tension distribution optimization |
url |
https://www.mdpi.com/2073-8994/11/9/1158 |
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