TY - GEN
T1 - Tension analysis for a cable-driven 7-DOF manipulator
AU - Chen, Weihai
AU - Dong, Ligang
AU - Zhang, Jianbin
AU - Wu, Xingming
PY - 2007
Y1 - 2007
N2 - A 7-DOF cable-driven manipulator is analyzed in the paper. First, according to the torque equilibrium, a static equation of the manipulator is deduced. Then, a dynamic formulation based on the static equation is followed, which includes the influence of external torque, gravity torque, inertial torque and gyroscopic torque. And then, an effective approach of calculating the external torque, gravity torque, inertial torque, gyroscopic torque and cable tension is obtained, which is simple to compute and its physical meaning is definite. Finally, the correctness of cable tension algorithm is testified by the simulation studies. Also, the elastic distortions of cables caused by cable tensions make the manipulator departure from its ideal trajectory and an error compensation is needed.
AB - A 7-DOF cable-driven manipulator is analyzed in the paper. First, according to the torque equilibrium, a static equation of the manipulator is deduced. Then, a dynamic formulation based on the static equation is followed, which includes the influence of external torque, gravity torque, inertial torque and gyroscopic torque. And then, an effective approach of calculating the external torque, gravity torque, inertial torque, gyroscopic torque and cable tension is obtained, which is simple to compute and its physical meaning is definite. Finally, the correctness of cable tension algorithm is testified by the simulation studies. Also, the elastic distortions of cables caused by cable tensions make the manipulator departure from its ideal trajectory and an error compensation is needed.
KW - Cable-driven
KW - Dynamic
KW - Static
KW - Tension
KW - Torque
UR - https://www.scopus.com/pages/publications/35248898357
U2 - 10.1109/ICIEA.2007.4318531
DO - 10.1109/ICIEA.2007.4318531
M3 - 会议稿件
AN - SCOPUS:35248898357
SN - 1424407370
SN - 9781424407378
T3 - ICIEA 2007: 2007 Second IEEE Conference on Industrial Electronics and Applications
SP - 862
EP - 867
BT - ICIEA 2007
T2 - 2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007
Y2 - 23 May 2007 through 25 May 2007
ER -