Skip to main content
SpringerLink
Log in

Integrated Mechanism Design and Control of the Hybrid-Driven Based Cable-Suspended Parallel Robots

  • Chapter
  • First Online:
Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications

  • 945 Accesses

Abstract

The dynamic model of the HDCPR is developed on the basis of Lagrange method. Then, an adaptive iterative learning control strategy is designed for the high-precision trajectory tracking. Furthermore, the stability of the controller is proved by means of Lyapunov function. In order to improve the dynamic performance of the HDCPR system, a methodology of simultaneous optimal design of mechanism and control for the HDCPR is presented. The dynamic modeling of the HDCPR is performed based on Newton-Euler method, and the workspace of the manipulator is also analyzed.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 119.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 159.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 159.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Zi B, Cao J, Zhu Z et al (2013) Design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator. Math Probl Eng

    Google Scholar 

  2. Chien CJ (2008) A combined adaptive law for fuzzy iterative learning control of nonlinear systems with varying control tasks. IEEE Trans Fuzzy Syst 16(1):40–51

    Article  MathSciNet  Google Scholar 

  3. Yousef H, Hamdy M, El-Madbouly E et al (2009) Adaptive fuzzy decentralized control for interconnected MIMO nonlinear subsystems. Automatica 45(2):456–462

    Article  MathSciNet  MATH  Google Scholar 

  4. Neupert J, Arnold E, Schneider K et al (2010) Tracking and anti-sway control for boom cranes. Control Eng Practice 18(1):31–44

    Article  Google Scholar 

  5. Tayebi A (2004) Adaptive iterative learning control for robot manipulators. Automatica 40(7):1195–1203

    Article  MathSciNet  MATH  Google Scholar 

  6. Ouyang PR, Zhang WJ, Gupta MM (2006) An adaptive switching learning control method for trajectory tracking of robot manipulators. Mechatronics 16(1):51–61

    Article  Google Scholar 

  7. Tayebi A, Abdul S, Zaremba MB et al (2008) Robust iterative learning control design: application to a robot manipulator. IEEE/ASME Trans Mechatron 13(5):608–613

    Article  Google Scholar 

  8. Lee JH, Lee KS (2007) Iterative learning control applied to batch processes: An overview. Control Eng Practice 15(10):1306–1318

    Article  Google Scholar 

  9. Ouyang PR, Petz BA, Xi FF (2011) Iterative learning control with switching gain feedback for nonlinear systems. J Comput Nonlinear Dyn 6(1):011020

    Article  Google Scholar 

  10. Zi B, Cao J, Qian S (2014) Iterative learning tracking control of a hybrid-driven based three-cable parallel manipulator. Adv Mech Eng 6:248385

    Article  Google Scholar 

  11. You B, Kim M, Lee D et al (2011) Iterative learning control of molten steel level in a continuous casting process. Control Eng Practice 19(3):234–242

    Article  Google Scholar 

  12. Fonseca IM, Bainum PM, Lourenção PTM (2002) Structural and control optimization of a space structure subjected to the gravity-gradient torque. Acta Astronaut 51(10):673–681

    Article  Google Scholar 

  13. Zi B, Ding H, Cao J et al (2014) Integrated mechanism design and control for completely restrained hybrid-driven based cable parallel manipulators. J Intell Rob Syst 74(3–4):643–661

    Article  Google Scholar 

  14. Gamage LB, de Silva CW, Campos R (2012) Design evolution of mechatronic systems through modeling, on-line monitoring, and evolutionary optimization. Mechatronics 22(1):83–94

    Article  Google Scholar 

  15. Zha XF (2002) Optimal pose trajectory planning for robot manipulators. Mech Mach Theory 37(10):1063–1086

    Article  MathSciNet  MATH  Google Scholar 

  16. Porfirio CR, Odloak D (2011) Optimizing model predictive control of an industrial distillation column. Control Engineering Practice 19(10):1137–1146

    Article  Google Scholar 

  17. Canfield RA, Meirovitch L (1994) Integrated structural design and vibration suppression using independent modal space control. AIAA journal 32(10):2053–2060

    Article  MATH  Google Scholar 

  18. Zhang WJ, Li Q, Guo LS (1999) Integrated design of mechanical structure and control algorithm for a programmable four-bar linkage. IEEE/ASME Trans Mechatron 4(4):354–362

    Article  Google Scholar 

  19. Zhu Y, Qiu J, Tani J et al (1999) Simultaneous optimization of structure and control for vibration suppression. J Vib Acoust 121(2):237–243

    Article  Google Scholar 

  20. Zhang X (2004) Integrated optimal design of flexible mechanism and vibration control. Int J Mech Sci 46(11):1607–1620

    Article  MATH  Google Scholar 

  21. Yan HS, Yan GJ (2009) Integrated control and mechanism design for the variable input-speed servo four-bar linkages. Mechatronics 19(2):274–285

    Article  Google Scholar 

  22. Gogate GR, Matekar SB (2012) Optimum synthesis of motion generating four-bar mechanisms using alternate error functions. Mech Mach Theory 54:41–61

    Article  Google Scholar 

  23. Kaveh A, Rahami H (2006) Nonlinear analysis and optimal design of structures via force method and genetic algorithm. Comput Struct 84(12):770–778

    Article  MATH  Google Scholar 

  24. Fogel DB (1994) An introduction to simulated evolutionary optimization. IEEE Trans Neural Networks 5(1):3–14

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Hefei University of Technology, Hefei, China

    Bin Zi & Sen Qian

Authors
  1. Bin Zi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sen Qian
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Bin Zi .

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer Science+Business Media Singapore

About this chapter

Cite this chapter

Zi, B., Qian, S. (2017). Integrated Mechanism Design and Control of the Hybrid-Driven Based Cable-Suspended Parallel Robots. In: Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications. Springer, Singapore. https://doi.org/10.1007/978-981-10-1753-7_4

Download citation

  • DOI: https://doi.org/10.1007/978-981-10-1753-7_4

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-1752-0

  • Online ISBN: 978-981-10-1753-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation