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Complex motion design and control of aircraft model suspended with cable-driven parallel robot at high AoAs

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2025年第2期239卷 167-179页

作者： Dong, Wenzhao Wang, Xiaoguang Wang, Jiajun Lin, Qi Xiamen Univ Sch Aerosp Engn Xiangan South Rd Xiamen 361102 Peoples R China

Modern advanced fighters are characterized by the post-stall maneuverability with multi-degree-of-freedom (M-DOF) at high angles of attack (AoAs), which is generally difficult to simulate with the traditional sting suspension method in wind tunnel due to its limited M-DOF capability and dynamics. This paper studies the complex motion control of an aircraft model suspended with a novel cable-driven parallel robot (CDPR) to reappear some typical agile maneuvers with high AOAs and large amplitudes. The tasks include modeling the unsteady aerodynamics, designing the desired motion command, and developing the robust control law. Firstly, the kinematic and dynamic equations of CDPR are given, and the state-space representation of aerodynamic forces and moments for unsteady aircraft motion is established. Subsequently, an angular motion involving rolling around the velocity vector is proposed, and a typical M-DOF motion trajectory is also designed. To deal with modeling uncertainties and external disturbances, a robust feedback controller is constructed by integrating the computed-torque control law with extended state observer (ESO), and its stability is analyzed using the Lyapunov function. ADAMS simulations and numerical investigations conducted on the CDPR validate the effectiveness of the proposed methods and controller.

关键词： Wind tunnel test cable-driven parallel robot multi-degree-of-freedom high angles of attack robust control

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Reconfiguration and Performance Evaluation of TBot cable-driven parallel robot

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JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 010909页

作者： Duan, Jinhao Liu, Hanqing Zhang, Zhaokun Shao, Zhufeng Meng, Xiangjun Lv, Jingang Huang, Minjian Tsinghua Univ Dept Mech Engn State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipment & Beijing 100084 Peoples R China PengCheng Lab Shenzhen 518055 Peoples R China Dalian Shipbldg Heavy Ind Grp Dalian 116083 Peoples R China Shanghai Shipbldg Technol Res Inst Shanghai 201203 Peoples R China

cable-driven parallel robots (CDPRs) are easy to implement modular and reconfigurable design, which effectively meets the requirements offlexible production. To clarify the influ- ence of reconfiguration on the performance of a modular designed prototype of the TBot high-speed robot, analysis methods and indexes for the force output and moment constraint performance of CDPRs with co-driven parallel cables are proposed. The influence of reconfi guration on the omnidirectional and directional performance of TBot is discussed, showing the possibility of achieving a more compact layout by reconfiguring the base into slender shapes. The recommended reconfiguration range of TBot is determined to achieve acceptable performance. [DOI: 10.1115/1.4065680]

关键词： cable-driven parallel robot reconfiguration performance evaluation

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Development of a four-cable-driven parallel robot for execution of complex tasks in closed environments

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INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2025年第2期13卷 1-14页

作者： Penaloza, Elmer A. Gamboa Caballero, Franco D. B. Leston, Luciano A. de Lima, Sigmar Univ Fed Pelotas Intelligent Syst & Control Grp GSIC Dona Mariana 13 BR-96010020 Pelotas RS Brazil

Technological advances in robotics and intelligent systems and their application in industrial processes are becoming necessary and relevant. The execution of complex tasks in closed environments such as storage warehouses, greenhouses, post warehouses, among others, presents the need to have autonomous and intelligent systems that can handle large quantities of products and merchandise in an efficient way. The high prices of these technologies do not allow small and medium industries to implement them in their production lines. Therefore, this article presents the development and construction of a four-cable-driven parallel robot (FCDPR) prototype that can perform complex tasks in closed environments. Additionally, the article presents a real-time supervisory control and data acquisition system (SCADA) which communicates between the platform users and the dynamic system developed. The results show the efficiency of the FCDPR robotic platform, as well as the effective communication with the proposed SCADA.

关键词： cable-driven parallel robot Kinematic model SCADA system

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Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New cable-driven parallel robot With Interval Variables

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Journal of Mechanical Design 2025年第8期147卷 083301页

作者： Zhou, Bin Li, Sipan Wang, Zhiyuan Chen, Bing Zi, Bin School of Mechanical Engineering Hefei University of Technology 193 Tunxi Road Hefei 230009 China School of Mechano-Electronic Engineering Xidian University Xi’an 710071 China

Based on the Chebyshev polynomial method (CPM) and interval theory, this article establishes the relationship between uncertain parameters and the dynamic response of a new cable-driven parallel robot (CDPR). Meanwhile, the time-varying characteristic of uncertain parameters in the dynamic uncertainty analysis of the model is considered in this article, effectively enhancing the accuracy of the dynamic response. The mechanical design and kinematic modeling are conducted, and the dynamic model is established based on the Lagrangian method. Thus, uncertain parameters including the length of the lifting arm L, the angle of the lifting arm rotation on the support plate α, and the length of the payload l are defined as interval variables, and the dynamic equilibrium equation with interval variables is derived. Numerical examples show that the CPM has a higher accuracy than the first-order interval perturbation method (FOIPM), and a higher efficiency than the Monte Carlo method (MCM) when it comes to solve the dynamic response of the CDPR with uncertain parameters. Experimental results demonstrate the effectiveness of dynamic modeling and the CPM in achieving efficient dynamic response and show that the largest relative error between the theoretical and experimental values for the dynamic response of the CDPR with uncertain parameter L is 1.466%; the largest relative error with uncertain parameter α is 0.783%; the largest relative error with uncertain parameter l is 0.857%; and the largest relative error with multiple uncertain parameters is 1.513%.

关键词： cables Polynomials Kinematics Chebyshev polynomials method cable-driven parallel robot dynamic modeling Dynamic modeling Dynamic response uncertainty analysis Errors robots Thrust Tension interval perturbation method Modeling Uncertainty analysis Equilibrium (Physics)

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Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-cable-driven parallel robot

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Journal of Mechanisms and robotics 2025年第8期17卷 081003页

作者： Wu, Qingjun Zi, Bin Hu, Bo Li, Yuan School of Mechanical Engineering Hefei University of Technology Hefei 230009 China School of Mechano-Electronic Engineering Xidian University Xi’an 710071 China School of Mechanical Engineering YanShan University Qin Huangdao Hebei 066004 China

Conventional parallel robots are made of rigid materials for the purpose of fast and accurate localization, exhibiting limited performance in large-scale operations. Inspired by the softness and natural compliance of biological systems, this article proposes a rigid-flexible coupling cable-driven parallel robot. The concept of flexible cable and spring hybrid and working principle are introduced. The kinematics of single module and multiple modules connected in series are analyzed and equations are given, and the Lagrange equation is used to establish dynamic models. Finally, two methods are used to validate the kinematics and dynamics. One is to draw the specific structure with the posture of the end-effector and measure the cable length to compare it with the analytical solution in the kinematic model. The other is to build the structure and joint characteristics insimulink, given the posture of the end-effector and the external force/torque, the cable length and the force applied are compared with those obtained from the dynamic model. The reasonableness of the mechanism and the feasibility of the kinematic and dynamic models are verified.

关键词： cables Kinematics inverse kinematic cable-driven parallel robot Springs theoretical and computational kinematics mechanism synthesis and analysis robots Modeling End effectors rigid-flexible coupling dynamic Dynamics (Mechanics)

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Design and Optimization of a cable-driven parallel Polishing robot With Kinematic Error Modeling

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JOURNAL OF MECHANICAL DESIGN 2025年第1期147卷 013304页

作者： Zhou, Bin Wu, Shuainan Zi, Bin Zhu, Weidong Hefei Univ Technol Sch Mech Engn Hefei 230009 Anhui Peoples R China Xidian Univ State Key Lab Electromech Integrated Mfg High Perf Xian 710071 Peoples R China Univ Maryland Baltimore Cty Dept Mech Engn 1000 Hilltop Circle Baltimore MD 21250 USA

This article presents the design and optimization of a cable-driven parallel polishing robot (CDPPR) with kinematic error modeling and introduces an improved nondominated sorting genetic algorithm II (NSGA-II) for multiobjective optimization. First, the mechanical design and kinematic and static modeling of the CDPPR are conducted. Subsequently, a kinematic error transfer model is established based on the evidence theory by considering the change of exit points of cables, and an error index is derived to measure the accuracy of the robot. Besides, another two performance indices including the workspace and static stiffness are proposed. Thus, a multiobjective optimization model is established to optimize the workspace, static stiffness, and error index, and an improved NSGA-II is developed. Finally, an experimental scaled prototype of the CDPPR is constructed, and numerical examples and experimental results demonstrate the effectiveness of the improved NSGA-II and the stability of the optimal configuration.

关键词： cable-driven parallel robot mechanical design kinematic error modeling multiobjective optimization uncertainty analysis

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Fuzzy second-order integral terminal adaptive sliding mode control for marine cable-driven parallel grinding robot

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OCEAN ENGINEERING 2025年 326卷

作者： Zhao, Shilong Wang, Shenghai Li, Jian Han, Guangdong He, Yunpeng Chen, Haiquan Luo, Weirong Sun, Yuqing Dalian Maritime Univ Marine Engn Coll Dalian Peoples R China Dalian Maritime Univ Natl Ctr Int Res Subsea Engn Technol & Equipment Dalian Peoples R China

During shipbuilding and maintenance, manual grinding is not only inefficient and highly risky in high-altitude operations, but also poses a threat to workers' lives due to the inhalation of metal dust. Consequently, this paper proposes a marine cable-driven parallel grinding robot (CDPGR). Firstly, a dynamic model of the CDPGR, incorporating ship motion, is established using the Lagrange method. The cable tensions are applied in the ADAMS virtual prototype to obtain the friction force and torque. Secondly, the CDPGR is highly sensitive to counter forces from the grinding mechanism, ship motion, impact loads, and other factors. Due to the insufficient control accuracy of existing controllers, a fuzzy second-order integral terminal adaptive sliding mode control (FSOITASMC) is proposed based on the dynamic model. The stability of the control system is demonstrated using the Lyapunov theory. Furthermore, the effectiveness of the F-SOITASMC is validated through simulations under complex working conditions and compared with existing control strategies. Finally, the superiority of the FSOITASMC is further confirmed via scaled-down prototype experiments. This study provides novel insights and methodologies for applying cable-driven parallel robots in marine environments.

关键词： cable-driven parallel robot Grinding robot Dynamic analysis Stability Second-order integral terminal adaptive sliding mode control

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cable-driven parallel robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

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Journal of Bionic Engineering 2022年第2期19卷 390-402页

作者： Ferdaws Ennaiem Abdelbadia Chaker Juan Sandoval Sami Bennour Abdelfattah Mlika Lotfi Romdhane Said Zeghloul Med Amine Laribi Department of GMSC Pprime Institute CNRSENSMAUniversity of PoitiersUPR 3346PoitiersFrance Mechanical Laboratory of Sousse(LMS) National Engineering School of SousseUniversity of Sousse4000 SousseTunisia American University of Sharjah PO Box 26666SharjahUnited Arab Emirates

An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this *** exercises were prescribed by an occupational therapist for the upper limb *** movement patterns of five participants,recorded using a Qualisys motion capture system,are compared based on the Analysis of Variance(ANOVA)*** survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation,which is able to reproduce the three selected *** comparison is performed to justify,whether or not,there is enough similarity between the participants’gestures,and so a single reference trajectory can be adopted as the robot-prescribed *** the results of the comparative study,an optimization process of the sought robot design is carried out,where the structure size and the cable tensions simultaneously minimized.

关键词： Human motion repeatability Activities of Daily Living(ADL) Analysis of Variance(ANOVA) Task workspace cable-driven parallel robot Upper limb rehabilitation Optimization

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cable-driven parallel robot Controlled by Servo-Vision System 14th

Cable-Driven Parallel Robot Controlled by Servo-Vision Syste...

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14th Mexican Conference on Pattern Recognition (MCPR)

作者： Garcia-Vanegas, Andres Leiton-Murcia, Camilo Forero, Manuel G. Gonzalez-Rodriguez, Antonio Castillo-Garcia, Fernando Univ Ibague Fac Ingn Semillero MEC AUTRON Tolima Colombia Univ Ibague Fac Ingn Semillero Lun Tolima Colombia Univ Castilla La Mancha Toledo Spain

ISBN: (纸本)9783031077500;9783031077494

This work proposes the implementation of a control system based servo-vision in a cable-driven parallel robot with four degrees of freedom. In the first instance, a servo-vision based position control system is designed for a correct positioning of the mobile platform (endeffector) within the working space of the fixed platform (frame). Also, this part integrates the application of techniques for object detection in images. The second part verifies the system by tracking trajectories and positioning of the end-effector in the workspace. Moreover, seedling monitoring will be performed in a seedbed located inside the robot, which consists of taking real-time video of the robot's end-effector, for the location and monitoring of the seedlings.

关键词： Servo-vision Vision-based control Computer vision cable-driven parallel robot cable robot parallel robotic

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Stability Analysis of a Reconfigurable and Mobile cable-driven parallel robot

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IEEE ACCESS 2024年 12卷 14182-14193页

作者： Tan, Hor Muntashir, Rizal Nurahmi, Latifah Pramujati, Bambang Kurniawan, Ari Wasiwitono, Unggul Caro, Stephane Natl Polytech Inst Cambodia Fac Automobile Engn Phnom Penh 12409 Cambodia Walsin Energy Cable Syst Co Ltd Prod Technol Dept New Taipei City 242 Taiwan Inst Teknol Sepuluh Nopember Dept Mech Engn Surabaya 60111 Indonesia Kumoh Natl Inst Technol Dept IT Convergence Engn Gumi Si 39177 Gyeongsangbuk D South Korea

This paper presents a stability analysis based on the Zero Moment Point (ZMP) concept during the reconfiguration of a cable-driven parallel robot (CDPR) using three mobile bases. Each mobile base can be driven forward and backward, and it has a crane that can be moved up and down, to which a cable connected to the end effector is attached. The ZMP should stay within the designated support boundaries to prevent the robot from tumbling. Therefore, the next positions of the cable exit point are changed by applying two reconfiguration schemes to the robot: 1) changing the mobile base position and 2) altering the crane length. Kinetostatic models of both reconfiguration schemes are formulated such that the wrench matrix is expressed to compute the cable tensions. A fifth-degree polynomial test trajectory is defined to be followed by the end-effector. When executing a prescribed trajectory, the sequence of the mobile base position and the crane length are optimized by continuously considering the robot stability based on ZMP. Without reconfiguration, the mobile cranes cannot handle high cable tensions without tipping over. By performing two reconfiguration schemes, the whole system can be constantly maintained in equilibrium, and the robot's workspace can be enlarged;therefore, the tipping over can eventually be avoided. An experimental setup is built to demonstrate and validate the mathematical models of both reconfiguration scenarios.

关键词： Cranes robots Power cables robot kinematics Trajectory Stability criteria End effectors cable-driven parallel robot stability reconfiguration crane mechanism mobile robot technology

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