Abstract
The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure the whole system. The fulfillment of sufficient prestressing is the constraint of the optimization process. Computed Torque Control with a cable force distribution algorithm is implemented. The control algorithm performance is examined on different trajectories, including non-smooth motion requests, and its robustness is tested by randomly generated errors of the model parameters in regulators. The results demonstrate that the optimized structure is capable of controlling the manipulator motion and keeping the cable prestressing within the given limits.
Highlights
Optimization and Control of a PlanarRobots and manipulators with serial kinematics totally dominate in all industrial applications and have many advantages, and an end-effector represents the variety of possibilities
The combination of a robot/manipulator with a serial chain with an auxiliary cable mechanism is some trade-off between these two possibilities. Such a system could be understood as a special type of the hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system
The dynamic model is assembled, and the optimization process, which is focused on the whole structure of the manipulator, folthe the optimization optimization process, process, which which is is focused focused on on the the whole whole structure structure of of the the manipulator, manipulator, folfollows
Summary
Robots and manipulators with serial kinematics totally dominate in all industrial applications and have many advantages (e.g., large workspace [1]), and an end-effector represents the variety of possibilities (gripper, active component or tool [2]). Parallel kinematics, which theoretically represents some alternative, typically has better dynamic properties but usually has a high number of expensive, precise components on the other hand (such as joints and arms) and typically more limited workspace. The combination of a robot/manipulator with a serial chain with an auxiliary cable mechanism is some trade-off between these two possibilities. Such a system could be understood as a special type of the hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure a manipulator-cable system (Figure 1)
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