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Modeling and Cooperation Method for Movable Anchor Winch Cable-Driven Parallel Robot
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AI
DOI：10.1109/TMECH.2024.3478357.png)
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摘要
En 中文
Cable-driven parallel robots (CDPRs) have distinct features in large workspace, dynamic response, load capacity compared to traditional serial and parallel robots. However, challenges arise from interferences among driving cables, end-effectors (EEs), and the environment when studying CDPRs, limiting their performance and complicating cooperation among multiple CDPRs. This article introduces a novel CDPR structure, termed M-CDPRs, featuring movable anchor winches that move along a track. In contrast to traditional CDPRs, this design enhances obstacle avoidance capabilities and facilitates cooperation among multiple M-CDPRs. Taking a planar M-CDPR as an example, the structure design, kinematics model, obstacle avoidance algorithm, and dual-robot cooperation method were presented. Experiments showed that the M-CDPR could achieve trajectory tracking without any interference for either fixed or moving obstacles and realized dual-MCDPR cooperation. Moreover, a potential application was demonstrated that could simulate two space aircraft's rendezvous and docking process. The proposed M-CDPR and the cooperation method could be helpful to expand the range of applications of CDPRs.
Keyword:
Cable-driven parallel robots (CDPRs)
movable anchor winches (MAWs)
multirobot cooperation
obstacle avoidance
Cable-driven parallel robots (CDPRs)
movable anchor winches (MAWs)
multirobot cooperation
obstacle avoidance
期刊
I
IF:
7.3
论文数:
5.5K
被引数:
2.4W
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