Kinematics, statics modeling and workspace analysis of a cable-driven hybrid robot

Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs and RSRs, which can improve the deficiencies of a single robot in one aspect. Due to a larger force-enclosed workspace (FEW), CDHRs can accom...

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Bibliographic Details
Published in:Multibody system dynamics Vol. 61; no. 2; pp. 163 - 193
Main Authors: Peng, Jianqing, Guo, Yonghua, Meng, Deshan, Han, Yu
Format: Journal Article
Language:English
Published: Dordrecht Springer Netherlands 01.06.2024
Springer Nature B.V
Subjects:
Automotive Engineering
Composite structures
Configurations
Control
Coupling
Dynamical Systems
Electrical Engineering
Engineering
Flexibility
Industrial applications
Kinematic equations
Kinematics
Mechanical Engineering
Modelling
Optimization
Quadratic programming
Redundancy
Robot dynamics
Robots
Task complexity
Vibration
Workspace
Series/parallel coupling
Coupling kinematics
Statics
Cable-driven hybrid robots
Workspace
ISSN:1384-5640, 1573-272X
Online Access:Get full text
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Summary:Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs and RSRs, which can improve the deficiencies of a single robot in one aspect. Due to a larger force-enclosed workspace (FEW), CDHRs can accomplish more complex tasks, which have a wide range of applications in industrial picking, disaster rescue, construction renovation, etc. However, as its structural complexity increases, the coupling modeling and workspace analysis will become more difficult. Based on this, this paper provides a coupled kinematics, statics modeling, and workspace analysis method of CDHRs. Firstly, the forward/inverse kinematic equations of the series/parallel coupling are derived, and the corresponding solutions are given according to this composite structure with high redundancy. Secondly, the static equations of the CDHR are further derived based on the coupled kinematics model and solved by the quadratic programming method (QPM). Further, a FEW for the CDHR is established based on collision constraints, containing the workspaces of both the RSR and the CDPR. To evaluate the quality of the workspace for the CDHR, a method for solving the configuration flexibility is proposed. Finally, the workspace and the configuration flexibility of the CDHR are analyzed by the built simulation system. And then, the tracking methods of several typical trajectories are verified by the model.
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ISSN:1384-5640
1573-272X
DOI:10.1007/s11044-023-09924-6