Dynamic Modeling and Tension Analysis of Redundantly Restrained Cable-Driven Parallel Robots Considering Dynamic Pulley Bearing Friction

Cable-driven parallel robots (CDPRs) have been widely used in many industrial fields, especially in specialized industrial fields requiring high precision control. This paper presents the dynamic modeling and cable tension analysis of redundantly restrained cable-driven parallel robots (RRPRs). The Coulomb friction and Dahl friction model were proposed to predict the friction between the cable and the pulley. According to the friction models, a dynamic equation of RRPR considering the dynamic pulley bearing friction is derived. For the two friction models, the influence of various parameters on the tension and friction are analyzed. It is demonstrated that the Dahl friction model has a high accuracy when the moving platform is at a low speed or the speed direction changes rapidly, the friction and the cable tension can achieve a smooth transition. In particular, the Dahl friction model can better describe the actual change of friction.

[1]  Blake Hannaford,et al.  Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[2]  Andreas Pott,et al.  Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[3]  Clément Gosselin,et al.  On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis , 2018 .

[4]  Jean-Pierre Merlet,et al.  Parallel Robots , 2000 .

[5]  Tegoeh Tjahjowidodo,et al.  Multi-source micro-friction identification for a class of cable-driven robots with passive backbone , 2016 .

[6]  Chinedum E. Okwudire,et al.  A novel approach for mitigating the effects of pre-rolling/pre-sliding friction on the settling time of rolling bearing nanopositioning stages using high frequency vibration , 2017 .

[7]  P. Dahl.  A Solid Friction Model , 1968 .

[8]  Jong Hyeon Park,et al.  Collision-free path planning of cable-driven parallel robots in cluttered environments , 2019, Intelligent Service Robotics.

[9]  C. Hsieh,et al.  Dynamic behavior and modelling of the pre-sliding static friction , 2000 .

[10]  James S. Albus,et al.  The NIST robocrane , 1993, J. Field Robotics.

[11]  Kyoung-Su Park,et al.  Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration , 2017 .