Research on End-force Output of 8-cable Driven Parallel Manipulator

Sen-Hao Hou, Xiao-Qiang Tang, Ling Cao, Zhi-Wei Cui, Hai-Ning Sun and Ying-Wei Yan. Research on End-force Output of 8-cable Driven Parallel Manipulator. International Journal of Automation and Computing. doi: 10.1007/s11633-019-1195-6
 Citation: Sen-Hao Hou, Xiao-Qiang Tang, Ling Cao, Zhi-Wei Cui, Hai-Ning Sun and Ying-Wei Yan. Research on End-force Output of 8-cable Driven Parallel Manipulator. International Journal of Automation and Computing.

## Research on End-force Output of 8-cable Driven Parallel Manipulator

###### Author Bio: Sen-Hao Hou received the B. Sc. degree in mechanical engineering from Beijing Institute of Technology, China in 2016. He is currently a Ph. D. dgree candidate in mechanical engineering at Tsinghua University, China. His research interest is  cable parallel robot.  E-mail: hou-sh16@mails.tsinghua.edu.cn ORCID iD: 0000-0001-7450-9190 Xiao-Qiang Tang received the B. Sc. and M. Sc. degrees in mechanical engineering from Harbin University of Science and Technology, China in 1995 and 1998 respectively. He received the Ph. D. degree in mechanical engineering from Tsinghua University, China in 2001. He is currently a professor in Department of Mechanical Engineering, Tsinghua University, China. His research interests include parallel manipulators, robots, and reconfigurable manufacturing technology. E-mail: tang-xq@mail.tsinghua.edu.cn (Corresponding author) ORCID iD: 0000-0001-8399-8416 Ling Cao received the B. Sc. and M. Sc. degrees in mechanical engineering from Tsinghua University, China in 2013 and 2016, respectively. Her research interest is cable-driven parallel robots.   E-mail: caoling_cpa@126.com Zhi-Wei Cui received the M. Sc. degree in mechanical engineering from Beihang University, China in 2016. He is currently a Ph. D. degree candidate in mechanical engineering at Tsinghua University, China. His research interests include parallel manipulators and cable-driven robots. E-mail: czw16@mails.tsinghua.edu.cn Hai-Ning Sun received the B. Sc. degree in mechanical engineering from Shandong University, China in 2017. He is currently a Ph. D. degree candidate in mechanical engineering at Tsinghua University, China. His research interest is cable parallel robot. E-mail: sunhn17@mails.tsinghua.edu.cn Ying-Wei Yan received the M. Sc. degree in mechanical engineering from Harbin University of Science and Technology, China in 1998. She is currently a senior engineer in the Postal Scientific Research and Planning Academy, China. Her research interests include logistics system simulation and mechanism design. E-mail: yanyingwei@163.com
• Figure  1.  Eight-cable driven parallel manipulator

Figure  2.  Kinematic architecture and force system of 8-cable-driven parallel manipulator

Figure  3.  End-force output

Figure  4.  Force distribution by closed-form force distribution method

Figure  5.  Situation of end-force output

Figure  6.  Cable force distributions in different ${ F}_{pre}$

Figure  7.  Effect of end-force output for different values of ${ F}_{pre}$

Figure  8.  Error conditions for different values of ${ F}_{pre}$

Figure  9.  Optimization of ${ F}_{pre}$

Figure  10.  Experiment system of 8-cable driven parallel manipulator

Figure  11.  Force-position mix control strategy

Figure  12.  Motion of low gravity simulation experiment

Figure  13.  Results of $\dfrac{1}{20}$ gravity environment simulation experiment

Figure  14.  Motion of low gravity simulation experiment

Figure  15.  Results of cable force control

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##### 出版历程
• 收稿日期:  2018-10-08
• 录用日期:  2019-03-26
• 修回日期:  2019-01-01
• 网络出版日期:  2019-09-25

## Research on End-force Output of 8-cable Driven Parallel Manipulator

### English Abstract

Sen-Hao Hou, Xiao-Qiang Tang, Ling Cao, Zhi-Wei Cui, Hai-Ning Sun and Ying-Wei Yan. Research on End-force Output of 8-cable Driven Parallel Manipulator. International Journal of Automation and Computing. doi: 10.1007/s11633-019-1195-6
 Citation: Sen-Hao Hou, Xiao-Qiang Tang, Ling Cao, Zhi-Wei Cui, Hai-Ning Sun and Ying-Wei Yan. Research on End-force Output of 8-cable Driven Parallel Manipulator. International Journal of Automation and Computing.

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