Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications

2017 ◽  
Author(s):  
Bin Zi ◽  
Sen Qian
Keyword(s):  
Design Analysis ◽  
Parallel Robots ◽  
And Control

scholarly journals MECHANICAL CHARACTERISTICS ANALYSIS OF A BIONIC MUSCLE CABLE-DRIVEN LOWER LIMB REHABILITATION ROBOT

2020 ◽  
Vol 20 (10) ◽  
pp. 2040037
Author(s):  
YAN-LIN WANG ◽  
KE-YI WANG ◽  
ZI-XING ZHANG ◽  
LIANG-LIANG CHEN ◽  
ZONG-JUN MO
Keyword(s):  
Lower Limb ◽  
Mechanical Characteristics ◽  
Safety Evaluation ◽  
Parallel Robots ◽  
Rehabilitation Robot ◽  
Machine Model ◽  
Characteristics Analysis ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Cable-driven parallel robots (CDPR) have been well used in the rehabilitation field. However, the cables can provide the tension in a single direction, there is a pseudo-drag phenomenon of the cables in the CDPR, which will have a great impact on the safety of patients. Therefore, the novelty of this work is that a bionic muscle cable is used to replace the ordinary cable in the CDPR, which can solve the pseudo-drag phenomenon of the cables in the CDPR and improve the safety performance of the rehabilitation robot. The cable-driven lower limb rehabilitation robot with bionic muscle cables is called as the bionic muscle cable-driven lower limb rehabilitation robot (BMCDLR). The motion planning of the rigid branch chain of the BMCDLR is studied, and the dynamics and system stiffness of the BMCDLR are analyzed based on the man–machine model in this paper. The influence of the parameters of the elastic elements in the bionic muscle cables on the mechanical characteristics of the BMCDLR system was analyzed by using simulation experiments. The research results can provide a reference basis for research on the safety evaluation and control methods of the BMCDLR system.

Modelling and Simulation of a Isoglide T3R1 Parallel Robot

2010 ◽  
Vol 166-167 ◽  
pp. 457-462
Author(s):  
Dan Verdes ◽  
Radu Balan ◽  
Máthé Koppány
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Practical Implementation ◽  
Medical Robots ◽  
The Past ◽  
And Control ◽  
Workspace Design ◽  
Human Systems

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

Construction and Control of Parallel Robots

2013 ◽  
pp. 313-367
Author(s):  
Moharam Habibnejad Korayem ◽  
Soleiman Manteghi ◽  
Hami Tourajizadeh
Keyword(s):  
Parallel Robots ◽  
And Control

Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation

2012 ◽  
pp. 274-294 ◽  
Author(s):  
Wen Bin Lim ◽  
Guilin Yang ◽  
Song Huat Yeo ◽  
Shabbir Kurbanhusen Mustafa
Keyword(s):  
Modular Design ◽  
Design Analysis ◽  
Mobile Manipulator ◽  
Kinematic Modeling ◽  
Human Environment ◽  
Robotic Arms ◽  
Assistive Robot ◽  
Manageable Level ◽  
And Control ◽  
Tension Analysis

A Cable-Driven Robotic Arm (CDRA) possesses a number of advantages over the conventional articulated robotic arms, such as lightweight mechanical structure, high payload, fault tolerance, and most importantly, safe manipulation in the human environment. As such, a mobile manipulator that consists of a mobile base and a CDRA can be a promising assistive robot for the aging or disabled people to perform necessary tasks in their daily life. For such applications, a CDRA is a dexterous manipulator that consists of a number of cable-driven joint modules. In this chapter, a modular design concept is employed in order to simplify design, analysis, and control of CDRA to a manageable level. In particular, a 2-DOF cable-driven joint module is proposed as the basic building block of a CDRA. The critical design analysis issues pertaining to the kinematics analysis, tension analysis, and workspace-based design optimization of the 2-DOF cable-driven joint module are discussed. As a modular CDRA can be constructed into various configurations, a configuration-independent kinematic modeling approach based on the Product-of-Exponentials (POE) formula is proposed. The effectiveness of the proposed design analysis algorithms are demonstrated through simulation examples.

Rough mereological foundations for design, analysis, synthesis, and control in distributed systems

1998 ◽  
Vol 104 (1-2) ◽  
pp. 129-156 ◽  
Author(s):  
Andrzej Skowron ◽  
Lech Polkowski
Keyword(s):  
Distributed Systems ◽  
Design Analysis ◽  
And Control

Sustainable Integrated Process Design and Control for a Distillation Column System

2014 ◽  
Vol 625 ◽  
pp. 470-473 ◽  
Author(s):  
Mohamad Zulkhairi Nordin ◽  
Mohamad Dzulfadzli Jais ◽  
Mohd Kamaruddin Abd Hamid
Keyword(s):  
Process Design ◽  
Distillation Column ◽  
Controller Design ◽  
Optimal Solution ◽  
Design Analysis ◽  
Integrated Process ◽  
Column System ◽  
Benzene Toluene ◽  
And Control ◽  
Control Methodology

The objective of this paper is to develop a sustainable integrated process design and control methodology for a distillation column system. The sustainable integrated process design and control problem for a distillation column system is typically formulated as a mathematical programming (optimization with constraints) problem, and solved by decomposing it to six sequential hierarchical sub-problems: (i) pre-analysis, (ii) design analysis, (iii) controller design analysis, (iv) sustainability analysis, (v) detailed economics analysis and (vi) final selection and verification. The results through case study of benzene-toluene separation process shows the proposed methodology is capable to find the optimal solution that satisfies design, control, sustainability and economic criteria in a simple and efficient way.

Experimental validation on the integrated design and control of a parallel robot

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 173-181 ◽  
Author(s):  
Qing Li
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Dynamic Models ◽  
Integrated Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Approximation Techniques ◽  
Control Approach ◽  
Modeling Errors ◽  
And Control

Due to the demands from the robotic industry, robot structures have evolved from serial to parallel. The control of parallel robots for high performance and high speed tasks has always been a challenge to control engineers. Following traditional control engineering approaches, it is possible to design advanced algorithms for parallel robot control. These approaches, however, may encounter problems such as heavy computational load and modeling errors, to name it a few. To avoid heavy computation, simplified dynamic models can be obtained by applying approximation techniques, nevertheless, performance accuracy will suffer due to modeling errors. This paper suggests applying an integrated design and control approach, i.e., the Design For Control (DFC) approach, to handle this problem. The underlying idea of the DFC approach can be illustrated as follows: Intuitively, a simple control algorithm can control a structure with a simple dynamic model quite well. Therefore, no matter how sophisticate a desired motion task is, if the mechanical structure is designed such that it results in a simple dynamic model, then, to design a controller for this system will not be a difficult issue. As such, complicated control design can be avoided, on-line computation load can be reduced and better control performance can be achieved. Through out the discussion in the paper, a 2 DOF parallel robot is redesigned based on the DFC concept in order to obtain a simpler dynamic model based on a mass-balancing method. Then a simple PD controller can drive the robot to achieve accurate point-to-point tracking tasks. Theoretical analysis has proven that the simple PD control can guarantee a stable system. Experimental results have successfully demonstrated the effectiveness of this integrated design and control approach.

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