Structure optimization and tension analysis of a cable-driven spherical joint

Author

Chen, Quanzhu ; Chen, Weihai ; Liu, Rong ; Zhang, Jianbin

Author_Institution

Sch. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2009

fDate

9-11 Dec. 2009

Firstpage

786

Lastpage

791

Abstract

Cable-driven spherical joint is a 3-DOF closed-loop mechanism which transmits motion and force of the driver on the base to the moving platform via cables. It combines the merits of cable-driven and parallel mechanism. This paper introduces a 4-cable-driven parallel structure with 3-DOF and uses a specific methodology to optimize structural parameters of the spherical joint. Based on the analysis above, the tension distribution of drag ropes is analyzed first. Then we give an efficient method to calculate the relationship between the pose of the platform and tension. Finally, force control strategy and algorithm of the spherical joint is deduced based on the tension distribution and a simulation by means of ADAMS which are carried out to verify the effectiveness of proposed algorithms.

Keywords

cables (mechanical); closed loop systems; force control; manipulator kinematics; optimisation; ropes; 3DOF closed-loop mechanism; ADAMS; cable-driven spherical joint; drag ropes; force control strategy; moving platform; parallel mechanism; structure optimization; tension distribution; Automatic control; Force control; Humans; Manipulators; Mechanical engineering; Parallel robots; Power cables; Robotics and automation; Shoulder; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2009. ICCA 2009. IEEE International Conference on

Conference_Location

Christchurch

Print_ISBN

978-1-4244-4706-0

Electronic_ISBN

978-1-4244-4707-7

Type

conf

DOI

10.1109/ICCA.2009.5410552

Filename

5410552