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2014 On the Minimum Cable Tensions for the Cable-Based Parallel Robots
Peng Liu, Yuanying Qiu, Yu Su, Jiantao Chang
J. Appl. Math. 2014: 1-8 (2014). DOI: 10.1155/2014/350492

Abstract

This paper investigates the minimum cable tension distributions in the workspace for cable-based parallel robots to find out more information on the stability. First, the kinematic model of a cable-based parallel robot is derived based on the wrench matrix. Then, a noniterative polynomial-based optimization algorithm with the proper optimal objective function is presented based on the convex optimization theory, in which the minimum cable tension at any pose is determined. Additionally, three performance indices are proposed to show the distributions of the minimum cable tensions in a specified region of the workspace. An important thing is that the three performance indices can be used to evaluate the stability of the cable-based parallel robots. Furthermore, a new workspace, the Specified Minimum Cable Tension Workspace (SMCTW), is introduced, within which all the minimum tensions exceed a specified value, therefore meeting the specified stability requirement. Finally, a camera robot parallel driven by four cables for aerial panoramic photographing is selected to illustrate the distributions of the minimum cable tensions in the workspace and the relationship between the three performance indices and the stability.

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Peng Liu. Yuanying Qiu. Yu Su. Jiantao Chang. "On the Minimum Cable Tensions for the Cable-Based Parallel Robots." J. Appl. Math. 2014 1 - 8, 2014. https://doi.org/10.1155/2014/350492

Information

Published: 2014
First available in Project Euclid: 2 March 2015

Digital Object Identifier: 10.1155/2014/350492

Rights: Copyright © 2014 Hindawi

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