Work

Kinematic Modeling and Solutions for Cable-Driven Parallel Robots Considering Adaptive Pulley Kinematics

Year: 2025

Type: article

Abstract: Although the use of adaptive pulleys enhances the motion characteristics of cable-driven parallel robots (CDPRs), it significantly increases the complexity of the kinematics model. Conventional methods often fail to account for the influence of adaptive pulley motion on cable length variation, making it difficult to establish a precise kinematics model. To deal with the problem, this study presents a kinematic modeling and solution method for CDPRs, which incorporates adaptive pulley kinematics. First, the structural design of the CDPR driven by eight cables is analyzed. Then, the generalized kinematics model and the improved kinematics model with adaptive pulley considerations are established. Furthermore, a hybrid Levenberg–Marquardt and Genetic algorithm is proposed to achieve the efficient and high-precision solution of kinematics equations by combining the rapid global search and precise local optimization. Finally, the proposed method is validated through straight path simulation and elliptical path simulation. The simulation results indicate that the tracking accuracy of the end-effector is better than the 1 × 10−7 level for the proposed method.

Source: Sensors

DOI: 10.3390/s26010039

Authors: Zhonghua Hu, Chaowen Deng, Kai Wang, Jianqing Peng

Institutions: Liaocheng University, China Agricultural University, Sun Yat-sen University

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funders: National Natural Science Foundation of China, Natural Science Foundation of Guangdong Province, Natural Science Foundation of Shandong Province, National Key Research and Development Program of China