NDLI: Dynamic analysis of cable-driven parallel mechanisms

Content Provider	IEEE Xplore Digital Library
Author	Cong Bang Pham Guilin Yang Song Huat Yeo
Copyright Year	2005
Description	Author affiliation: Mechatronics Group, Singapore Inst. of Manuf. Technol. (Cong Bang Pham)
Abstract	A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as simple and light-weight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid-link mechanisms cannot be directly applied to CDPMs due to the unilateral property of cables. For a CDPM, dynamic formulation is only valid as actuators exert positive torques. In this paper, cable winding method is studied as it improves the whole dynamic performance of the system. This is followed by dynamic formulation. A generic approach based on dimension reduction technique, which is successfully implemented through a computationally effective recursive algorithm, is proposed to check the existence of positive torques. Since torque optimization problem is modeled in a standard linear programming form, the optimal solution can be efficiently obtained. Two simulation examples are provided to demonstrate the effectiveness of the proposed solution approach
Starting Page	612
Ending Page	617
File Size	353344
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511050
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Aerodynamics Mechanical cables Actuators Mechatronics Mechanical factors Linear programming Computational modeling Lightweight structures Energy consumption
Content Type	Text
Resource Type	Article

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