TY - GEN
T1 - Structure optimization and tension analysis of a cable-driven spherical joint
AU - Chen, Quanzhu
AU - Chen, Weihai
AU - Liu, Rong
AU - Zhang, Jianbin
PY - 2009
Y1 - 2009
N2 - Cable-driven spherical joint is a 3-DOF closed-loop mechanism which transmits motion and force of the driver on the base to the moving platform via cables. It combines the merits of cable-driven and parallel mechanism. This paper introduces a 4-cable-driven parallel structure with 3-DOF and uses a specific methodology to optimize structural parameters of the spherical joint. Based on the analysis above, the tension distribution of drag ropes is analyzed first. Then we give an efficient method to calculate the relationship between the pose of the platform and tension. Finally, force control strategy and algorithm of the spherical joint is deduced based on the tension distribution and a simulation by means of ADAMS which are carried out to verify the effectiveness of proposed algorithms.
AB - Cable-driven spherical joint is a 3-DOF closed-loop mechanism which transmits motion and force of the driver on the base to the moving platform via cables. It combines the merits of cable-driven and parallel mechanism. This paper introduces a 4-cable-driven parallel structure with 3-DOF and uses a specific methodology to optimize structural parameters of the spherical joint. Based on the analysis above, the tension distribution of drag ropes is analyzed first. Then we give an efficient method to calculate the relationship between the pose of the platform and tension. Finally, force control strategy and algorithm of the spherical joint is deduced based on the tension distribution and a simulation by means of ADAMS which are carried out to verify the effectiveness of proposed algorithms.
UR - https://www.scopus.com/pages/publications/77950373786
U2 - 10.1109/ICCA.2009.5410552
DO - 10.1109/ICCA.2009.5410552
M3 - 会议稿件
AN - SCOPUS:77950373786
SN - 9781424447060
T3 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
SP - 786
EP - 791
BT - 2009 IEEE International Conference on Control and Automation, ICCA 2009
T2 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
Y2 - 9 December 2009 through 11 December 2009
ER -