Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism
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Published:2023-01-30
Issue:1
Volume:14
Page:19-32
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ISSN:2191-916X
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Container-title:Mechanical Sciences
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language:en
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Short-container-title:Mech. Sci.
Author:
Song Da,Xiao Xinlei,Li Gang,Zhang Lixun,Xue Feng,Li Lailu
Abstract
Abstract. This study proposes a haptic interactive robot (HIR)
configuration and a control strategy based on a cable-driven parallel
mechanism. The ball screw drives the cable to improve the motion control
accuracy. The robot system control strategy improves the accuracy and
stability of haptic interaction. Through configuration optimization design
and analysis, eight cables are used to ensure that the robot end effector
exerts force and enables motion. Moreover, a forward and inverse kinematics
model of the robot is developed. According to the configuration of the HIR,
an improved cable tension distribution algorithm can facilely determine the
cable tension. Hence, each cable is consistently in a tight state, and the
change in tension is not sudden. Drive unit and robot system control
strategies are proposed to render the haptic interaction accurate and
stable. A simulation experiment of a complex space motion track is
implemented through the robot end effector, thus verifying the accuracy of
the established forward and inverse kinematics model. The accuracy of the
tension distribution algorithm, control strategy, and robot stability are
verified through simulation experiments, considering different forces and
motion tracks of robot end effectors.
Funder
National Natural Science Foundation of China Education Department of Jilin Province Northeast Electric Power University
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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