Analysis of Static Equilibrium Workspace for Under-constrainted Cable-driven System with Multi-robots

Authors

Zhigang Zhao, School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
Li Wei, School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
Youde Li, School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
Yanlin Wang, School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
Ma Yan, School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;

Abstract

Abstract: For the under-constrainted system that multi-robots tow the payload by cables, which does not meet the condition of force closure and equations are generally not compatible, so the accurate workspace can't be found out. The static equilibrium equation of the system was established, and then the least squares principle combined with the Monte-Carlo method was put forward. When the movement is low speed or quasi static for the payload, the approximate static equilibrium workspace can be found out quickly and the expression of the cable tension is given by using the normal equations and QR decomposition respectively. When position of robots and position and pose of the payload happen that the wrench isn't failed, there is the unique least square solution.The effectiveness of the proposed method was validated by computer simulation, the method can be used to quickly find out static equilibrium workspace of the under-constrainted cable-driven system for different space configuration, which provides the foundation to the research of planning and control for the system.

Recommended Citation

Zhao, Zhigang; Wei, Li; Li, Youde; Wang, Yanlin; and Yan, Ma (2020) "Analysis of Static Equilibrium Workspace for Under-constrainted Cable-driven System with Multi-robots," Journal of System Simulation: Vol. 29: Iss. 4, Article 2.
DOI: 10.16182/j.issn1004731x.joss.201704002
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss4/2

First Page

708

Revised Date

2015-10-10

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201704002

Last Page

713

CLC

TP391.9

Recommended Citation

Zhao Zhigang, Li Wei, Li Youde, Wang Yanlin, Ma Yan. Analysis of Static Equilibrium Workspace for Under-constrainted Cable-driven System with Multi-robots[J]. Journal of System Simulation, 2017, 29(4): 708-713.

DOI

10.16182/j.issn1004731x.joss.201704002