A Cable-Driven Hybrid Robot with Series-Parallel Coupling: Design, Modeling, Optimization Analysis, and Trajectory Tracking
Zhifu Xue, Zhiquan Yang, Junyi Hu, Bin Zhu, Jianqing Peng
TL;DR
This paper introduces a new hybrid robot combining serial and parallel cable systems for complex tasks, with modeling, optimization, and calibration methods.
Contribution
A novel cable-driven hybrid robot with series-parallel coupling and methods for modeling, workspace analysis, and self-calibration.
Findings
A modular CDHR design with an 8-cable parallel drive and a 4-DOF serial manipulator was developed.
Optimized anchor seat positions improved the statics and force-closure workspace analysis.
Experimental validation confirmed the effectiveness of the proposed methods in simulations and a physical prototype.
Abstract
Compared to purely serial robots or cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) combine the advantages of both, addressing their limitations and enabling the execution of complex tasks. The series-parallel coupling structure increases the complexity of the system, complicating modeling, calibration, and force-closure workspace (FCW) analysis. This study develops a CDHR system equipped with various sensors and proposes methods for series-parallel coupling modeling, workspace analysis, and self-calibration of complex systems. First, the modular design requirements for the CDHR are analyzed, comprising an 8-cable parallel drive and a 4-degree-of-freedom serial manipulator. Second, a kinematic model of the CDHR with series-parallel coupling was derived, and the positions of the dynamic anchor seats were optimized using an optimization algorithm. Based on these…
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Taxonomy
TopicsRobotic Mechanisms and Dynamics · Dynamics and Control of Mechanical Systems · Space Satellite Systems and Control