Abstract
Camera robots are high-speed redundantly cable-driven parallel manipulators that realize the aerial panoramic photographing. When long-span cables and high maneuverability are involved, the effects of cable sags and inertias on the dynamics must be carefully dealt with. This paper is devoted to the optimal cable tension distribution (OCTD for short) of the camera robots. Firstly, each fast varying-length cable is discretized into some nodes for computing the cable inertias. Secondly, the dynamic equation integrated with the cable inertias is set up regarding the large-span cables as catenaries. Thirdly, an iterative optimization algorithm is introduced for the cable tension distribution by using the dynamic equation and sag-to-span ratios as constraint conditions. Finally, numerical examples are presented to demonstrate the effects of cable sags and inertias on determining tensions. The results justify the convergence and effectiveness of the algorithm. In addition, the results show that it is necessary to take the cable sags and inertias into consideration for the large-span manipulators.
Highlights
In the recent years, redundantly cable-driven parallel camera robots have been developed for the increasing requirements of the aerial panoramic photographing [1]
Rocker cameras and crank arm lift trucks suffer from the limited shooting angles and interrupt audience’s view of scene; helicopter shootings are subject to the vibration, noise, and expensive cost
In order to find the unique solution to cable tension distribution, an iterative optimization algorithm is introduced based on the dynamic equation
Summary
Redundantly cable-driven parallel camera robots (camera robots for short, see Figure 1) have been developed for the increasing requirements of the aerial panoramic photographing [1]. Du et al [16] presented a simple dynamic modeling approach of large workspace cable-driven parallel manipulators. These works only involve the end-effectors’ inertias. For a largespan cable-driven manipulator, it cannot achieve the desired control effects for force or force/position control without considering cable inertias and sags, especially in the case of high-speed motions. In order to find the unique solution to cable tension distribution, an iterative optimization algorithm is introduced based on the dynamic equation.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
