Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot
An algorithm for solving the forward position solution problem of the parallel robot based on Levenberg-Marquardt method is proposed. A kinematics model of a redundantly constrained cable-driven parallel robot is established,and the mechanism is parameterized to solve the inverse position solution p...
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Editorial Office of Journal of Mechanical Transmission
2020-07-01
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Series: | Jixie chuandong |
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Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.003 |
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author | Tao Ye Zhang Shangying Wang Yanwei |
author_facet | Tao Ye Zhang Shangying Wang Yanwei |
author_sort | Tao Ye |
collection | DOAJ |
description | An algorithm for solving the forward position solution problem of the parallel robot based on Levenberg-Marquardt method is proposed. A kinematics model of a redundantly constrained cable-driven parallel robot is established,and the mechanism is parameterized to solve the inverse position solution problem. The nonlinear equations of forward kinematics are established,and the original pose of the end effector is taken as the iterative initial value to solve the forward position solution problem by applying the proposed algorithm. The Matlab/Simulink/xPC tool is used for simulation experiments. The complex periodic circular curve is selected as the motion trajectory of the parallel robot for the real-time simulation. It is verified that the algorithm can achieve accurate forward position solution and smooth motion trajectory,and has good real-time performance. Five pose combinations are selected to verify the high efficiency of the algorithm. The calculation results show that the algorithm has fewer iterations,shorter computation time and higher accuracy,which provides a theoretical guidance for real-time monitoring and complex control strategies of parallel robots. |
format | Article |
id | doaj-art-a3f17488404b4dba983cf5413f154158 |
institution | Kabale University |
issn | 1004-2539 |
language | zho |
publishDate | 2020-07-01 |
publisher | Editorial Office of Journal of Mechanical Transmission |
record_format | Article |
series | Jixie chuandong |
spelling | doaj-art-a3f17488404b4dba983cf5413f1541582025-01-10T14:45:09ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-07-0144192331444267Forward Position Solution of Redundantly Constrained Cable-driven Parallel RobotTao YeZhang ShangyingWang YanweiAn algorithm for solving the forward position solution problem of the parallel robot based on Levenberg-Marquardt method is proposed. A kinematics model of a redundantly constrained cable-driven parallel robot is established,and the mechanism is parameterized to solve the inverse position solution problem. The nonlinear equations of forward kinematics are established,and the original pose of the end effector is taken as the iterative initial value to solve the forward position solution problem by applying the proposed algorithm. The Matlab/Simulink/xPC tool is used for simulation experiments. The complex periodic circular curve is selected as the motion trajectory of the parallel robot for the real-time simulation. It is verified that the algorithm can achieve accurate forward position solution and smooth motion trajectory,and has good real-time performance. Five pose combinations are selected to verify the high efficiency of the algorithm. The calculation results show that the algorithm has fewer iterations,shorter computation time and higher accuracy,which provides a theoretical guidance for real-time monitoring and complex control strategies of parallel robots.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.003Cable-driven parallel robot |
spellingShingle | Tao Ye Zhang Shangying Wang Yanwei Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot Jixie chuandong Cable-driven parallel robot |
title | Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot |
title_full | Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot |
title_fullStr | Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot |
title_full_unstemmed | Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot |
title_short | Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot |
title_sort | forward position solution of redundantly constrained cable driven parallel robot |
topic | Cable-driven parallel robot |
url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.003 |
work_keys_str_mv | AT taoye forwardpositionsolutionofredundantlyconstrainedcabledrivenparallelrobot AT zhangshangying forwardpositionsolutionofredundantlyconstrainedcabledrivenparallelrobot AT wangyanwei forwardpositionsolutionofredundantlyconstrainedcabledrivenparallelrobot |