基于分析中心的缆索驱动并联机器人张力分配算法的实验验证

IF 2.1 3区工程技术 Q3 MECHANICS

Meccanica Pub Date : 2025-09-10 DOI:10.1007/s11012-025-02044-9

Daria Berretta, Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi

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引用次数: 0

摘要

与传统的并联机器人相比，电缆驱动并联机器人（CDPRs）具有许多优点。准确和安全地引导它们需要能够实时工作的快速张力分配算法（tda）。本文提出了我们以前的TDA即分析中心的实验验证。贡献包括将模拟结果与实测张力剖面进行比较，以推断理论结果的有效性。换句话说，这个想法是为了找到模拟预测的证据。实验结果证实了该分析中心的理论优势，证明了它的实用性。

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Experimental validation of the analytic-centre based tension distribution algorithm for cable driven parallel robots

Cable-Driven Parallel Robots (CDPRs) offer several advantages over traditional parallel robots. Guiding them accurately and safely requires fast Tension Distribution Algorithms (TDAs) able to work in real-time. This paper proposes the experimental validation of our previous TDA namely, the Analytic Centre. The contribution consists of comparing the simulated results with the measured tension profiles to infer the validity of the theoretical outcome. In other words, the idea is to find evidence of the predictions made in simulations. Experiments confirm simulated results supporting the theoretical advantages of the presented Analytic Centre, proving its usefulness.

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来源期刊

Meccanica 物理-力学

CiteScore

4.70

自引率

3.70%

发文量

151

审稿时长

7 months

期刊介绍： Meccanica focuses on the methodological framework shared by mechanical scientists when addressing theoretical or applied problems. Original papers address various aspects of mechanical and mathematical modeling, of solution, as well as of analysis of system behavior. The journal explores fundamental and applications issues in established areas of mechanics research as well as in emerging fields; contemporary research on general mechanics, solid and structural mechanics, fluid mechanics, and mechanics of machines; interdisciplinary fields between mechanics and other mathematical and engineering sciences; interaction of mechanics with dynamical systems, advanced materials, control and computation; electromechanics; biomechanics. Articles include full length papers; topical overviews; brief notes; discussions and comments on published papers; book reviews; and an international calendar of conferences. Meccanica, the official journal of the Italian Association of Theoretical and Applied Mechanics, was established in 1966.