高速绳牵引并联摄像机器人冗余驱动力优化求解

doi:10.3969/j.issn.1001-2400.2014.02.015

J4 ›› 2014, Vol. 41 ›› Issue (2): 90-96.doi: 10.3969/j.issn.1001-2400.2014.02.015

• Original Articles • Previous Articles Next Articles

Optimization of redundant driving force for high-speed cable-driven parallel camera robots

SU Yu;QIU Yuanying;WANG Long;DU Jingli

(Ministry of Education Key Lab. of Electronic Equipment Structure, Xidian Univ., Xi'an 710071， China)

Received:2012-11-14 Online:2014-04-20 Published:2014-05-30
Contact: SU Yu E-mail:suyuvitamin@163.com

Abstract

Abstract:

Determination of redundant tension distribution for completely restrained positioning mechanism is transformed into a polynomial formulation extreme value problem in the convex feasible domain in this paper; and the real-time and continuous indices for measuring cable tension optimization solutions is also presented. A typical cable tension optimal distribution of the CDPCR is determined in order to provide an insight into the problem, so that the real-time and continuity of several tension optimal indices are compared and analyzed. Furthermore, concrete suggestions of index selection are given.

Key words: cable-driven parallel manipulator, camera robot, redundant actuation, optimization of driving force, real-time, continuity

CLC Number:

TG156

SU Yu;QIU Yuanying;WANG Long;DU Jingli. Optimization of redundant driving force for high-speed cable-driven parallel camera robots[J].J4, 2014, 41(2): 90-96.

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Optimization of redundant driving force for high-speed cable-driven parallel camera robots

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