Configuration design method for cable-driven parallel robot considering force control errors and external uncertain wrenches

IF 4.6 2区工程技术 Q1 ENGINEERING, MECHANICAL

Acta Mechanica Sinica Pub Date : 2025-08-26 DOI:10.1007/s10409-025-24425-x

Zhiwei Qin (, ), Zhen Liu (, ), Junyu Wang (, ), Huibo Zhang (, ), Jian’an Xu (, )

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Abstract

This study presents a configuration design method for a redundantly cable-driven parallel robot under hybrid control, where the selected redundant cables are force-controlled, whereas the other cables perform length control in the joint space. The general wrench-feasibility for the hybrid joint-space control strategy was analyzed based on a space with cable tension vectors as bases. A novel performance index, general force-determined cable adjustable force, which considers not only the external interfering forces and moments but also the cable force control errors for the controllers, is explained in this study. A configuration design methodology, combining collision-free and wrench-feasible detection, is developed to obtain the optimal parameters. A trajectory with external disturbance forces and moments is considered in the experimental case study, in which the center of mass of the end effector remains unknown, and force control errors are also considered under the hybrid joint-space control strategy. We found that the hybrid joint-space control has the ability to explicitly control the cable force and cable length, and it can be applied for carrying loads with high accuracy under uncertain external interfering forces and moments by means of an appropriate configuration design.

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考虑力控制误差和外部不确定扳手的缆索驱动并联机器人构型设计方法

提出了一种混合控制下冗余缆驱动并联机器人的构型设计方法，其中所选择的冗余缆在关节空间进行力控制，而其他缆在关节空间进行长度控制。基于以索张力矢量为基础的空间，分析了混合关节空间控制策略的通用扳手-可行性。本文提出了一种新的性能指标——一般定力索可调力，它既考虑了外部干扰力和力矩，又考虑了控制器的索力控制误差。提出了一种结合无碰撞检测和扳手可行检测的构型设计方法，以获得最优参数。在实验案例研究中，考虑了具有外力和力矩干扰的轨迹，其中末端执行器质心未知，并且考虑了混合关节空间控制策略下的力控制误差。研究发现，混合关节空间控制具有显式控制索力和索长的能力，通过适当的结构设计，可以在不确定的外力和力矩干扰下高精度地承载载荷。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Acta Mechanica Sinica 物理-工程：机械

CiteScore

5.60

自引率

20.00%

发文量

1807

审稿时长

4 months

期刊介绍： Acta Mechanica Sinica, sponsored by the Chinese Society of Theoretical and Applied Mechanics, promotes scientific exchanges and collaboration among Chinese scientists in China and abroad. It features high quality, original papers in all aspects of mechanics and mechanical sciences. Not only does the journal explore the classical subdivisions of theoretical and applied mechanics such as solid and fluid mechanics, it also explores recently emerging areas such as biomechanics and nanomechanics. In addition, the journal investigates analytical, computational, and experimental progresses in all areas of mechanics. Lastly, it encourages research in interdisciplinary subjects, serving as a bridge between mechanics and other branches of engineering and the sciences. In addition to research papers, Acta Mechanica Sinica publishes reviews, notes, experimental techniques, scientific events, and other special topics of interest. Related subjects » Classical Continuum Physics - Computational Intelligence and Complexity - Mechanics