Dynamic trajectory planning of planar two-dof redundantly actuated cable-suspended parallel robots

This paper proposes a dynamic trajectory planning approach for planar two-dof redundantly actuated cable-suspended parallel mechanisms. In the recent literature, the global dynamic trajectory planning problem of cable-suspended mechanisms was addressed and some of the characteristic properties of su...

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Bibliographic Details
Published in2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3874 - 3879
Main Authors Lewei Tang, Gosselin, Clement, Xiaoqiang Tang, Xiaoling Jiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
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Summary:This paper proposes a dynamic trajectory planning approach for planar two-dof redundantly actuated cable-suspended parallel mechanisms. In the recent literature, the global dynamic trajectory planning problem of cable-suspended mechanisms was addressed and some of the characteristic properties of such robots were revealed. In this paper, actuation redundancy is introduced and the dynamic trajectory planning is addressed using straight line periodic trajectories and the application of the antipodal theorem. The results obtained show that introducing actuation redundancy increases the dynamic capabilities of the robots. Special frequencies are revealed that are similar to those encountered with non-redundant mechanisms. Additionally, an alternative architecture is proposed to deal with cable interferences and it is shown that the novel architecture leads to improved dynamic capabilities when compared to the original architecture.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2014.6943106