Abstract
This chapter discusses the layout and force optimisation in cable-driven parallel manipulators (CPM). These manipulators need to be redundantly actuated to be fully constrained in their workspace. This can be achieved by having redundant limbs applying forces on the mobile platform to generate tension in the cables. The layout of the redundant limbs can be optimised such that they generate the desired tensile forces in the cables to keep them taut against any external and dynamic loads without excessively tensioning the cables. The optimisation of the redundant limbs is formulated as a projection onto an intersection of convex sets. This chapter also discusses the benefit of having multiple redundant limbs to minimise the cable tensions required to balance an external wrench during the operation and demonstrates this with a numerical example. In addition, the calculation of the optimum redundant-limb forces using the Dykstra’s projection algorithm is demonstrated.
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Hassan, M., Khajepour, A. (2008). Layout and Force Optimisation in Cable-driven Parallel Manipulators. In: Wang, L., Xi, J. (eds) Smart Devices and Machines for Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-84800-147-3_5
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DOI: https://doi.org/10.1007/978-1-84800-147-3_5
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