Optimal Cable Tension Distribution of the High-Speed Redundant Driven Camera Robots Considering Cable Sag and Inertia Effects

作     者：Su, Yu Qiu, Yuanying Liu, Peng 

作者机构：Xidian Univ Key Lab Minist Educ Elect Equipment Struct Design Xian 710071 Peoples R China 

出 版 物：《ADVANCES IN MECHANICAL ENGINEERING》 (机械工程进展)

年 卷 期：2014年第2014卷第Pt.3期

页      面：97-97页

核心收录：

学科分类：08[工学] 0807[工学-动力工程及工程热物理] 0802[工学-机械工程] 

基　　金：National Natural Science Foundation of China [51175397  51105290] 

主　　题：Cameras cable tension dynamic equation Catenary cable Inertial forces Optimization algorithms Robot Manipulators 

摘      要：Camera robots are high-speed redundantly cable-driven parallel manipulators that realize the aerial panoramic photographing. When long-span cables and high maneuverability are involved, the effects of cable sags and inertias on the dynamics must be carefully dealt with. This paper is devoted to the optimal cable tension distribution (OCTD for short) of the camera robots. Firstly, each fast varying-length cable is discretized into some nodes for computing the cable inertias. Secondly, the dynamic equation integrated with the cable inertias is set up regarding the large-span cables as catenaries. Thirdly, an iterative optimization algorithm is introduced for the cable tension distribution by using the dynamic equation and sag-to-span ratios as constraint conditions. Finally, numerical examples are presented to demonstrate the effects of cable sags and inertias on determining tensions. The results justify the convergence and effectiveness of the algorithm. In addition, the results show that it is necessary to take the cable sags and inertias into consideration for the large-span manipulators.