Volume 33 Issue 01
Jan.  2007
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Chen Weihai, Wang Huihua, Yu Shouqian, et al. Decouple analysis and simulation of displacement control for cable-driven manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(01): 94-99. (in Chinese)
Citation: Chen Weihai, Wang Huihua, Yu Shouqian, et al. Decouple analysis and simulation of displacement control for cable-driven manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(01): 94-99. (in Chinese)

Decouple analysis and simulation of displacement control for cable-driven manipulator

  • Received Date: 23 Dec 2005
  • Publish Date: 31 Jan 2007
  • To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, the configuration design, c able-driven manner, and kinematics control for a cable-driven humanoid-arm ma nipulator were analysed. Firstly, aiming at the choice of cables-driven manner s, a cable-driven me chanism that is coupled between elbow and wrist, and between shoulder and elbow was designed. Secondly, taking the 7-DOF joints such as the shoulder, elbow and w rist as medium, the relationship between the end-effector and driven cables was a nalyzed, i.e. through considering the relationship among the end-effector′s po se and joint angles firstly for the manipulator, and then considering the relation ship among joint angles and corresponding length of cables, the kinematics of ca ble-driven manipulator can be solved. Lastly the simulation was realized. The s im ulation results show that the curves of manipulator′s joint angles and length o f cables are very smooth, and the error between actual trajectory and ideal traje ctory of the end-effector is very small. These prove that the proposed algorith m is correct, the cable-driven manipulator runs well, and proposed approach can e ffectively overcome the negative effects from general robot brought by its deadw eight.

     

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