Forward kinematics analysis and experimental validation of a four-cable-driven under-constrained parallel mechanism

Zhen Cai Zhu, Peter Cy Chen, Xing Guo Shao, Qing Guo Wang, Guo An Chen

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)

Abstract

Taking the sinking winch mechanism as prototype, this paper studies the forward kinematics problem of a four-cable-driven under-constrained parallel mechanism. The tension states (slackness and tautness) and properties of the cables are incorporated into the forward kinematics model. We propose a new algorithm (named traversal algorithm) to solve the tensions in cables and the pose of platform, under the condition that only the lengths of four cables are known. The simulation and experimental results on forward kinematics demonstrate the effectiveness and correctness of the model and the traversal algorithm. The results of this paper can be used to evaluate the effect of the unequal cables' lengths to the tension distribution of cables and pose of the platform for sinking winch mechanism.

Original languageEnglish
Pages (from-to)1235-1247
Number of pages13
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume228
Issue number7
DOIs
Publication statusPublished - May 2014
Externally publishedYes

Keywords

  • Forward kinematics
  • cable-driven parallel mechanism
  • tension state

ASJC Scopus subject areas

  • Mechanical Engineering

Fingerprint

Dive into the research topics of 'Forward kinematics analysis and experimental validation of a four-cable-driven under-constrained parallel mechanism'. Together they form a unique fingerprint.

Cite this