Dynamic model and workspace analysis of novel incompletely restrained cable-suspension swing system driven by two cables. (3rd March 2017)

• Record Type: Journal Article
• Authors: Wang, Naige; Cao, Guohua; Zhu, Zhencai; Wang, Lei; Peng, Weihong
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 2(2017:Mar./Apr.)
• Publication Date: 2017-03-03
• Subjects: Incompletely restrained cable-suspension swing system -- trajectory analysis -- effective workspace; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417695186
• Languages: English
• ISSNs: 1729-8806

Abstract

The incompletely restrained cable-suspension swing system driven by two cables is introduced in this article. Based on wrench of forces theory and Lagrange's equation of first kind, the static and dynamics models of incompletely restrained cable-suspension swing system driven by two cables are established, respectively. In order to obtain an intuitive understanding of the trajectory analysis, a dynamics model consisting of governing equation and geometric constraint conditions which is a set of the mixed differential-algebraic equation in mathematics is established. A typical feedback controller and an inverse model were set up to estimate the driving function. The effective workspace, which is used to guarantee an efficient swing process, mostly depends on the geometrical shape rather than the volume itself which was calculated by trajectory analysis. In order to estimate system features and ensure a limited range of tension in underconstrained spatial cable system, the probable location of unbalanced loading was evaluated by pointwise evaluation techniques during normal work.