Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/82004
Title: Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index
Authors: Lim, Wen Bin
Yeo, Song Huat
Yang, Guilin
Keywords: Cable-driven manipulator (CDM)
Tension distribution
Issue Date: 2014
Source: 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.
Series/Report no.: IEEE/ASME Transactions on Mechatronics
Abstract: 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.
URI: https://hdl.handle.net/10356/82004
http://hdl.handle.net/10220/41077
ISSN: 1083-4435
DOI: 10.1109/TMECH.2013.2253789
Rights: © 2013 IEEE.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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