Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots. (September 2015)

• Record Type: Journal Article
• Authors: Tang, Lewei; Tang, Xiaoqiang; Jiang, Xiaoling; Gosselin, Clément
• Is Part Of: Mechatronics. Volume 30(2015)
• Page Start: 187
• Page End: 197
• Publication Date: 2015-09
• Subjects: Trajectory planning -- Periodical trajectory -- Planar cable robot -- Cable-suspended robot -- Parallel mechanism; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2015.07.005
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: This paper analyzes a set of dynamic trajectories for planar two-dof redundantly actuated cable-suspended parallel mechanisms. In recent literature, the global dynamic trajectory planning problem of cable-suspended mechanisms was addressed and some of the characteristic properties of such robots were revealed. In this paper, actuation redundancy is introduced and the dynamic trajectory planning is addressed using a series of periodic trajectories (i.e. straight line and circular periodic trajectories) and the application of the antipodal theorem. The experimental results obtained show that introducing actuation redundancy increases the dynamic capabilities of the robots. Also, cable tensions acquired via tension sensors confirm that cables always remain taut during all experimental verifications at feasible frequencies and that they are consistent with the tension variations predicted by theory. Furthermore, special frequencies are specified that are similar to those encountered with non-redundant mechanisms. Additionally, an alternative architecture is proposed to deal with cable interferences and it is shown that the novel architecture leads to improved dynamic capabilities when compared to the original architecture.