Cable Attachment Optimization for Reconfigurable Cable-Driven Parallel Robots Based on Various Workspace Conditions
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AbstractThis article proposes a novel method to determine the optimal cable attachment configuration for reconfigurable cable-driven parallel robots (RCDPRs) considering different workspace conditions. It is shown that wrench-feasible, wrench-closure, and interference-free conditions can be formulated into inequality constraints by considering the cable attachment points as polynomial functions or variables. Furthermore, the proposed method determines the optimal cable attachment location that minimizes the cable force or maximizes the tension factor kinematically at each pose. The proposed formulation can be resolved by different optimization techniques, such as semidefinite programming relaxation and multivariable gradient-based optimization solvers. The proposed approach can be implemented on RCDPRs from low to high degrees-of-freedom and a wide range of obstacles. The proposed formulation can be widely applied for different reconfiguration mechanisms, such as rails, unmanned ground vehicle (UGV), and unmanned aerial vehicle (UAV).
Acceptance Date09/06/2023
All Author(s) ListHung Hon Cheng, Darwin Lau
Journal nameIEEE Transactions on Robotics
Volume Number39
Issue Number5
Pages3759 - 3775
LanguagesEnglish-United States
KeywordsOptimization, Power cables, Force, End effectors, Rails, Parallel robots, Kinematics, Interference-free condition (IFC), reconfigurable cable-driven parallel robots (RCDPRs), tension factor (TF), wrench-closure condition (WCC), wrench-feasible condition (WFC)

Last updated on 2024-05-01 at 09:55