Abstract
The cable-based parallel camera robots possess characteristics of solitary way force, redundant actuation, and high-speed mobility. Therefore, research and solution on the stability are a challenging problem. In the available research literatures, there are limited studies to analyze the factors on the system stability for the high-speed cable-based parallel robots. However, when long-span cables and high maneuverability are involved, the effects of cable inertia on the dynamics should be carefully taken up. Thus, in this study, the effects of cable inertia on the stability of the high-speed cable-based parallel camera robots are studied. The dynamic model of the cable-based parallel robot is deduced with cable inertia based on the time-varying cable length dynamic model, the end-effector dynamic model, and the drive system dynamic model. Then, a tracking-control strategy for the camera robot is proposed based on a modified proportion-derivative (PD) forward controller in the end-effector position space. Further, the control strategy is demonstrated based on Lyapunov stability theory. Finally, numerical results show that camera robot is of stable-tracking performance. The control strategy is an effective approach to improve the stability of the camera robot.
Highlights
Cable-based parallel robots have been defined using actuated cables to operate the end-effector
The dynamics model, control strategy, and stability of the high-speed cable-based parallel robots with cable inertia are studied in detail in this work
The following conclusions can be made: 1. The dynamic model of the time-varying cable length is established based on the finite element method
Summary
Cable-based parallel robots have been defined using actuated cables to operate the end-effector. Cable-based parallel robots have attracted significant attention lately due to their outstanding advantages over the rigid-link parallel robots, such as simple structure, high payload, high speed, stable gantry configurations, small inertia, removable reorganization, and large workspace.[1] The cable-based parallel robots satisfy different functional and performance requirements in a variety of practical applications. They are studied from different fields (e.g. statics,[2] dynamics,[3] kinematics,[4] institutional performance analysis,[5] and control theory[6]). The stability analysis is required for the cable-based parallel robots
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