Variables increment configuration synthesis method for suspended cable-driven parallel mechanisms

doi:10.1016/j.mechatronics.2023.103056

2023-11-01

PRE

Yao Wang

Qingzhong Li

Yuan Chen *

DOI：10.1016/j.mechatronics.2023.103056

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摘要

En 中文

Traditional synthesis methods for cable-driven parallel mechanisms focus on specific cases where the number of cables and the number of degrees of freedom are fixed by employing computational algorithms to determine the position of cable anchor points. However, the ultimate aim of synthesizing configurations of cable-driven parallel mechanisms with diverse degrees of freedom is to gain the relative distribution relationships among cables. Therefore, a variables increment configuration synthesis method that takes the number of cables and the number of degrees of freedom as increasing variables is proposed, which provides the distribution relationships among cables from two degrees of freedom to six degrees of freedom. A multidimensional wave motion compensation between two ships is designed as the application scenario for suspended cable-driven parallel mechanisms. Two variables developed from the structure matrix supply the iteration of the configuration synthesis method. The point constraints, line constraints and classifications introduced in this paper provide the foundations of the configuration synthesis method by establishing the preconditions of cable distribution. The static workspace of three representative configurations verifies the feasibility of the configuration synthesis method. There are fifteen types of degrees of freedom and corresponding new configurations generalized.

Keyword:

Configuration synthesis

Suspended cable-driven parallel mechanisms

Variables increment method

Multidimensional wave motion compensation

Structure matrix

Cable distribution constraints