Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index

Cable-driven manipulators (CDMs) are a special class of parallel manipulators driven by cables instead of rigid links. Due to the unilateral driving property of cables, CDMs require redundant actuation to maintain positive cable tensions. As a result of actuation redundancy, there exist an infinite...

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Main Authors: Lim, Wen Bin, Yeo, Song Huat, Yang, Guilin
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2016
Subjects:
Online Access:https://hdl.handle.net/10356/82004
http://hdl.handle.net/10220/41077
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-820042020-03-07T13:19:23Z Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index Lim, Wen Bin Yeo, Song Huat Yang, Guilin School of Mechanical and Aerospace Engineering Cable-driven manipulator (CDM) Tension distribution Cable-driven manipulators (CDMs) are a special class of parallel manipulators driven by cables instead of rigid links. Due to the unilateral driving property of cables, CDMs require redundant actuation to maintain positive cable tensions. As a result of actuation redundancy, there exist an infinite number of possible cable tension solutions for a particular CDM pose. In this paper, a tension optimization method is proposed to obtain adjustable tension solution for CDMs. Adjustable tension solution is important because it enables the avoidance of tension limits and allows the stiffness of the CDM to be regulated. Tension-level indices are introduced to provide a systematic and practical way of setting the desired cable tensions level. The adjustable tension solution for each pose is obtained using a modified gradient projection method. The proposed method is generic and can be applied to CDMs with any number of redundant actuation. Simulation results show that the method is computationally efficient and the tension solutions can be manipulated by changing the tension-level indices. The simulation results have also been validated by experimental studies. ASTAR (Agency for Sci., Tech. and Research, S’pore) 2016-08-04T09:26:41Z 2019-12-06T14:44:33Z 2016-08-04T09:26:41Z 2019-12-06T14:44:33Z 2014 Journal Article Lim, W. B., Yeo, S. H., & Yang, G. (2014). Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index. IEEE/ASME Transactions on Mechatronics, 19(2), 676-683. 1083-4435 https://hdl.handle.net/10356/82004 http://hdl.handle.net/10220/41077 10.1109/TMECH.2013.2253789 en IEEE/ASME Transactions on Mechatronics © 2013 IEEE. 8 p.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic Cable-driven manipulator (CDM)
Tension distribution
spellingShingle Cable-driven manipulator (CDM)
Tension distribution
Lim, Wen Bin
Yeo, Song Huat
Yang, Guilin
Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
description Cable-driven manipulators (CDMs) are a special class of parallel manipulators driven by cables instead of rigid links. Due to the unilateral driving property of cables, CDMs require redundant actuation to maintain positive cable tensions. As a result of actuation redundancy, there exist an infinite number of possible cable tension solutions for a particular CDM pose. In this paper, a tension optimization method is proposed to obtain adjustable tension solution for CDMs. Adjustable tension solution is important because it enables the avoidance of tension limits and allows the stiffness of the CDM to be regulated. Tension-level indices are introduced to provide a systematic and practical way of setting the desired cable tensions level. The adjustable tension solution for each pose is obtained using a modified gradient projection method. The proposed method is generic and can be applied to CDMs with any number of redundant actuation. Simulation results show that the method is computationally efficient and the tension solutions can be manipulated by changing the tension-level indices. The simulation results have also been validated by experimental studies.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Lim, Wen Bin
Yeo, Song Huat
Yang, Guilin
format Article
author Lim, Wen Bin
Yeo, Song Huat
Yang, Guilin
author_sort Lim, Wen Bin
title Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
title_short Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
title_full Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
title_fullStr Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
title_full_unstemmed Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
title_sort optimization of tension distribution for cable-driven manipulators using tension-level index
publishDate 2016
url https://hdl.handle.net/10356/82004
http://hdl.handle.net/10220/41077
_version_ 1681047575096983552