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An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

Abstract

In this paper we present an improved method to compute force distributions for cable-driven parallel robots. We modify the closed-from solution such that the region where a solution is found is extended almost to the theoretical maximum, i.e. the wrench-feasible workspace. At the same time continuity along trajectories as well as real-time efficiency are maintained. The algorithm’s complexity and thus the computational burden scales linearly in the number of redundant cables. Therefore, the algorithm can also be used for highly redundant cable robots. The proposed algorithm is compared to known methods and computational results are presented based on the IPAnema prototype.

Published with permission of \(\copyright \) Fraunhofer 2014. Non-exclusive sublicensable right to post an electronic version retained.

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Notes

  1. 1.

    Li [8] only deals with the non redundant case \(r=0\), i.e. six cables and six degrees-of-freedom.

  2. 2.

    In numerical studies some poses were found on the very boarder of the workspace where the presented methods fails to find a solution.

  3. 3.

    Unfortunately, we have no formal proof that this holds true in general.

References

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Acknowledgments

This work was partially supported by Fraunhofer-Gesellschaft Internal Programs under Grant No. WISA 823 244. Furthermore, the research leading to these results received founding for the European Community’s Seventh Framework Program under grant agreement number NMP2-SL-2011-285404-CableBot.

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Authors and Affiliations

  1. Fraunhofer IPA, Stuttgart, Germany

    Andreas Pott

Authors
  1. Andreas Pott
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Correspondence to Andreas Pott .

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Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

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Pott, A. (2014). An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_16

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  • DOI: https://doi.org/10.1007/978-94-007-7214-4_16

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

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