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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Main Authors: Tao Ye, Zhang Shangying, Wang Yanwei
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2020-07-01
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.
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institution Kabale University
issn 1004-2539
language zho
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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