Tension Analysis for a Cable-Driven 7-DOF Manipulator

摘要：

A 7-DOF cable-driven manipulator is analyzed in the paper. First, according to the torque equilibrium, a static equation of the manipulator is deduced. Then, a dynamic formulation based on the static equation is followed, which includes the influence of external torque, gravity torque, inertial torque and gyroscopic torque. And then, an effective approach of calculating the external torque, gravity torque, inertial torque, gyroscopic torque and cable tension is obtained, which is simple to compute and its physical meaning is definite. Finally, the correctness of cable tension algorithm is testified by the simulation studies. Also, the elastic distortions of cables caused by cable tensions make the manipulator departure from its ideal trajectory and an error compensation is needed.

关键词： Cable-driven static dynamic torque tension

作者: Weihai CHEN Ligang DONG Jianbin ZHANG Xingming WU

作者单位: Beijing University of Aeronautics and Astronautics, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）