Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot

Chen, Q, Lin, Q, Wei, G ORCID: https://orcid.org/0000-0003-2613-902X and Ren, L 2021, 'Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot' , Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science .

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Abstract

This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better force measurement device. Kinematics and dynamics for a CDPR of n-DOF are deduced and formulated, and algorithms for calculating the cable tension are developed. Then, by defining geometrical parameters related to the dimensions and configurations of the CDPRs, optimal methods for determining force sensitivity with respect to the structure matrix and twist vector of the 6-DOF CDPRs with two different moving platforms (i.e. a cubic-shaped, and a flat moving platform) are proposed. By using numerical examples integrated with external twists obtained from wind tunnel tests, simulations and analysis for the two type of 6-DOF CDPRs are carried out. The simulation results help identify the optimal dimensions that can be used to design 6-DOF-CDPR-based force measuring devices with high force sensitivity. Experiment validation is also conducted to verify the method proposed in this paper.

Item Type: Article
Additional Information: ** From Crossref journal articles via Jisc Publications Router **Journal IDs: pissn 0954-4062; eissn 2041-2983 **History: issued 30-09-2021; published_online 30-09-2021
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Publisher: SAGE Publications
ISSN: 0954-4062
Related URLs:
Funders: National Natural Science Foundation of China, Scientific Research Foundation of Jimei University of China and the Application, Educational Research Projects of Young and Middle-aged Teachers in Fujian Province of China, Training Program of Fujian Excellent Talents in University
SWORD Depositor: Publications Router
Depositing User: Publications Router
Date Deposited: 13 Oct 2021 09:52
Last Modified: 13 Oct 2021 10:00
URI: http://usir.salford.ac.uk/id/eprint/62022

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