Please use this identifier to cite or link to this item: https://doi.org/10.1177/0954406211435585
Title: Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator
Authors: Shao, X.-G.
Zhu, Z.-C.
Wang, Q.-G. 
Chen, P.C. 
Zi, B.
Cao, G.-H.
Keywords: cable-suspended parallel manipulator
experimental validation
Non-smooth dynamics
set-valued tension law
Issue Date: Oct-2012
Source: Shao, X.-G., Zhu, Z.-C., Wang, Q.-G., Chen, P.C., Zi, B., Cao, G.-H. (2012-10). Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226 (10) : 2456-2466. ScholarBank@NUS Repository. https://doi.org/10.1177/0954406211435585
Abstract: The cable-suspended parallel manipulator replaces the rigid links of traditional parallel robot. The unilateral property of the cable complicates the dynamic analysis of such manipulator and further induces difficulty in control problem. The set-valued tension law is proposed to model the unilateral constraint of the cable, and the dynamics of cable-suspended parallel manipulator is analyzed in the framework of non-smooth dynamics. The resulting non-smooth dynamics model consists of a set of differential-algebraic equations with inequality constraints. Its solution is found by the Moreau midpoint method. An experimental setup was established to verify and validate the effectiveness and accuracy of non-smooth dynamics. And the simulation results generally agree with the experimental results, which demonstrate that the non-smooth dynamics is effective and reasonable for the dynamic analysis of the cable-suspended parallel manipulator. The results of this article deeply reveal the dynamics of the cable-suspended parallel manipulator, and may be used to design more accurate controller for its trajectory control. © 2012 IMechE.
Source Title: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
URI: http://scholarbank.nus.edu.sg/handle/10635/50994
ISSN: 09544062
DOI: 10.1177/0954406211435585
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

8
checked on Dec 6, 2017

WEB OF SCIENCETM
Citations

9
checked on Nov 18, 2017

Page view(s)

41
checked on Dec 10, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.