Real time forward solution of redundantly constrained cable driven parallel robots
Conference: AIIPCC 2021 - The Second International Conference on Artificial Intelligence, Information Processing and Cloud Computing
06/26/2021 - 06/28/2021 at Hangzhou, China
Proceedings: AIIPCC 2021
Pages: 5Language: englishTyp: PDF
Authors:
Xiang, Bao; Xiao, Di (School of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan, China)
Zhang, Shangying (School of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan, China & Wuhan Yuqiong Technology Co., Ltd, Wuhan, China)
Abstract:
The Levenberg-Marquardt and Quasi-Newtonian synthesis algorithm is presented by solving the forward position solution problem. The kinematics model of 8 Cable-6 DOF cable-driven parallel robots is established, and its mechanism is parameterized to solve the inverse solution problem, the inverse solution problem is calculated and solved. According to the closed principle of vectors, the nonlinear forward solution equations are derived from the inverse solution equation. The initial pose of the moving platform is taken as the initial value, and the forward position solution is obtained iteratively by using the Levenberg-Marquardt and Quasi-Newtonian synthesis algorithm. The circular curve is taken as the trajectory of the moving platform, and the real-time simulation results show that the accurate forward solution of position and pose can be completed by this algorithm. The experimental results show that the average time of the five pose combinations is less than 0.08ms, which meets the real-time requirements of solving the forward position and attitude solution of the cable-driven parallel robot.