绳牵引摄像机器人的力位混合稳定性评价方法

doi:10.3969/j.issn.1001-2400.2016.01.016

Abstract

Abstract:

Firstly, in order to assess the stability of the camera robots, a stability performance index with combination of force and position is proposed based on the determinations of the cable tensions for a camera robot. Furthermore, the stability performance index is described using the weighted average method, and meanwhile，the stability workspace is designed with the stability performance index. Secondly, a robust workspace with the external wrench is selected to compare with the stable workspace above for the camera robots. Finally, simulation results show that it is suitable to employ the stable performance to evaluate the stability of the camera robots.

Key words: cable-based parallel robots, camera robot, stability, workspace, hybrid force-position approac

CLC Number:

TP242

LIU Peng;QIU Yuanying. Approach with a hybrid force-position property to assessing the stability for camera robots[J].J4, 2016, 43(1): 87-93.

References

［1］ TANG X Q. An Overview of the Development for Cable-driven Parallel Manipulator［J］. Advances in Mechanical Engineering, 2014, DOI: 10.1155/2014/823028: 1-9.
［2］ DU J L, WEN D, BAO H. Cable Vibration Analysis for Large Workspace Cable-driven Parallel Manipulators［J］. Mechanisms and Machine Science, 2013, 12: 437-446.
［3］ VINCENT T L. Stabilization for Film and Broadcast Cameras［J］. IEEE Control Systems Magazine, 2008, 28(1): 20-25.
［4］苏宇, 仇原鹰, 王龙. 高速绳牵引并联摄像机器人冗余驱动力优化求解［J］. 西安电子科技大学学报, 2014, 41(2): 90-96.
SU Yu, QIU Yuanying, WANG Long. Optimization of Redundant Driving Force for High-speed Cable-driven Parallel Camera Robots［J］. Journal of Xidian University, 2014, 41(2): 90-96.
［5］ YAO R, ZHU W B, SUN C H, et al. Pose Planning for the Feed Support System of FAST［J］. Advances in Mechanical Engineering, 2014, DOI: 10.1155/2014/209167: 1-9.
［6］ ZHENG Y Q, ZHAO S H. Research Survey of Technique about Wire-driven Parallel Suspension Systems Used in Forced Oscillation Experiments in Low-speed Wind Tunnels for Obtaining Dynamic Derivatives［J］. Informatics in Control, Automation and Robotics, 2012, 133: 131-138.
［7］ SVININ M M, HOSOE S, UCHIYAMA M. On the Stiffness and Stability of Gough-Stewart Platforms［C］//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway: IEEE, 2001: 3268-3273.
［8］ SVININ M M, UEDA K, UCHIYAMA M. On the Stability Conditions for a Class of Parallel Manipulators［C］//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway: IEEE, 2000: 2386-2391.
［9］ SAEED B, AMIR K. Stiffness of Cable-based Parallel Manipulators with Application to Stability Analysis［J］. Journal of Mechanical Design, 2006, 128(1): 303-310.
［10］ BOSSCHER P M, EBERT-UPHOFF I. A Stability Measure for Underconstrained Cable-driven Robots［C］//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway: IEEE, 2004: 4943-4949.
［11］ BOSSCHER P M. Disturbance Robustness Measures and Wrench-feasibile Workspace Generation Techniques for Cable-driven Robots［D］. Atlanta: Georgia Institute of Technology, 2004.
［12］ MARCO C, JEAN-PIERRE M. Stability Analysis of Underconstrained Cable-driven Parallel Robots［J］. IEEE Transactions on Robotics, 2013, 29(1): 288-296.
［13］ KHOSRAVI M A, TAGHIRAD H D. Dynamic Analysis and Control of Cable Driven Robot Considering Elasticity in Cables［J］. Advanced Robotics and Automated Systems, 2011, 2011: 1-12.
［14］张相庭. 结构风压和风振计算［M］. 上海: 同济大学出版社, 1984.

[1]	HE Shikai,DUAN Qingjuan,LI Hao,ZHAO Ping. Analytical solution and verification of the workspace of the planar cable-driven mechanism [J]. Journal of Xidian University, 2019, 46(4): 28-34.
[2]	BAI Lina,WANG Yifei,ZHOU Wei,HUANG Libei,WANG Yuan. Advances in measurement methods from transient to full stability [J]. Journal of Xidian University, 2019, 46(3): 8-13.
[3]	ZHANG Yuqiang;GE Debiao. Highly stable FDTD method for complicated dispersive medium [J]. Journal of Xidian University, 2018, 45(4): 118-122+173.
[4]	XU Longfei;LUO Dan;ZHOU Wei;BAI Lina;LI Zhiqi;MIAO Miao. Method of a comprehensive response time of frequency stability [J]. Journal of Xidian University, 2018, 45(1): 72-75+122.
[5]	LIU Changjiang;WAN Jian;HAN Jiesi;WEI Qiang. Passive browser identification based on the packet length [J]. Journal of Xidian University, 2017, 44(6): 144-149.
[6]	JIA Zhaomin;LI Zhiqi;YANG Xuhai;SUN Baoqi;MIAO Miao;DONG Shaofeng. Frequency signal control based on the characteristic of the phase difference group [J]. Journal of Xidian University, 2017, 44(5): 109-113.
[7]	WANG Hui;SONG Yanping;MA Xiaofei. Parameter matching design method to keep the asymmetrical astromesh reflector surface stable [J]. Journal of Xidian University, 2017, 44(3): 114-119.
[8]	WEI Huiling;QIU Yuanying;SHENG Ying. Motion stable control for cable-driven parallel camera robots with high speeds [J]. Journal of Xidian University, 2016, 43(5): 63-69+104.
[9]	OU Xiaojuan;ZHOU Wei;YI Weiwei;ZHANG Xiaoyan;LI Jing. Characteristic analysis of the border effect in precision frequency measurement [J]. Journal of Xidian University, 2016, 43(3): 144-148.
[10]	LIU Jiachen;MIAO Qiguang;SONG Jianfeng;CAO Ying . Enhanced one-class learning based on clustering stability analysis [J]. J4, 2015, 42(2): 58-64+121.
[11]	BAI Lina;ZHOU Wei;REN Junqi. Wide frequency-regulated Precision OCXO [J]. J4, 2014, 41(5): 203-206.
[12]	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.
[13]	BAI Lina;ZHOU Wei;HUI Xinming;YE Yunxia;SONG Huimin. Precise measurement of the transient stability of frequency standards [J]. J4, 2014, 41(2): 102-106.
[14]	LI Sulan. Integrated design method considering closed-loop stability for the slider-crank mechanism [J]. J4, 2013, 40(2): 43-47.
[15]	YANG Ying;LI Jun-min;CHEN Guo-pei. Stochastic stability and stabilization for a class of singular hybrid systems [J]. J4, 2010, 37(5): 866-871.

Approach with a hybrid force-position property to assessing the stability for camera robots

PDF (PC)

Like

Knowledge

Cited

Abstract

Cite this article

share this article

References

Related Articles 15

Metrics

Comments

Recommended 10