Size optimization of the moving platform for cable-driven parallel manipulators based on stiffness characteristics | |
Zhang, Bin1; Shang, Wei-Wei1; Cong, Shuang1; Liu, Yi2 | |
刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE |
2018-06-01 | |
卷号 | 232期号:11页码:2057-2066 |
关键词 | Cable-driven parallel manipulators static stiffness stable workspace moving platform optimization problem |
ISSN号 | 0954-4062 |
DOI | 10.1177/0954406217714819 |
英文摘要 | To improve the mechanical structure of cable-driven parallel manipulators (CDPMs), the size of the moving platform is optimized based on the stiffness characteristics. First, the relationship between the stability and the static stiffness of CDPMs is analyzed, and a way of judging whether CDPMs are stable at a given pose is proposed. Therefore, the space formed by all stable poses is defined as the stable workspace. Second, the effects of two different shapes of the moving platform in different sizes on the stable workspace are investigated numerically. Furthermore, by maximizing the stable workspace, the size of the moving platform is optimized using the grouped coordinate descent method. Finally, the simulation experiments are implemented on a six-DOF spatial CDPM with eight cables. The simulation results indicate that the shape and size of the moving platform both have effects on the stable workspace, and the volume of the stable workspace can be enlarged by optimizing the size of the moving platform in the two different shapes. |
资助项目 | National Natural Science Foundation of China[51675501] ; National Natural Science Foundation of China[51275500] ; Research Project of State Key Laboratory of Mechanical System and Vibration[MSV201502] ; Innovation Promotion Association CAS[2012321] |
WOS关键词 | CLOSURE WORKSPACE ; MECHANISMS ; SYSTEM |
WOS研究方向 | Engineering |
语种 | 英语 |
出版者 | SAGE PUBLICATIONS LTD |
WOS记录号 | WOS:000433922800010 |
内容类型 | 期刊论文 |
源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/37037] |
专题 | 合肥物质科学研究院_中科院合肥智能机械研究所 |
通讯作者 | Shang, Wei-Wei |
作者单位 | 1.Univ Sci & Technol China, Dept Automat, Hefei, Anhui, Peoples R China 2.Chinese Acad Sci, Hefei Inst Intelligent Machines, Hefei, Anhui, Peoples R China |
推荐引用方式 GB/T 7714 | Zhang, Bin,Shang, Wei-Wei,Cong, Shuang,et al. Size optimization of the moving platform for cable-driven parallel manipulators based on stiffness characteristics[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2018,232(11):2057-2066. |
APA | Zhang, Bin,Shang, Wei-Wei,Cong, Shuang,&Liu, Yi.(2018).Size optimization of the moving platform for cable-driven parallel manipulators based on stiffness characteristics.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,232(11),2057-2066. |
MLA | Zhang, Bin,et al."Size optimization of the moving platform for cable-driven parallel manipulators based on stiffness characteristics".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 232.11(2018):2057-2066. |
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