Abstract
Fully restrained cable-driven parallel robots (CDPRs) are known for their low moving inertia, high payload-to-weight ratio, and large workspace, and are widely used in modern industry. For the existence of redundancy, the cable tension-distribution computation is essentially an optimisation problem. To avoid the long computation time of the iterative calculation, and satisfy the real-time demands of control design and trajectory planning, this paper presents a novel measurement index of the magnitude of tensions, the tension hypersphere radius (THSR) for fully restrained CDPRs. This can be used to prevent slackness and excessive tension in the cables. Furthermore, according to non-probabilistic convex uncertainty propagation, the tensions with the minimum THSR can be calculated via an analytical formulation, in which the variables are the geometry, external wrench, and prescribed trajectory. The validity and applicability of presented tension hypersphere mapping algorithm are verified by the comparing with the results of 2-norm quadratic programming.
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