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Overall stiffness derivation and enhancement algorithm of a flying cable-driven parallel robot

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Abstract

Flying cable-driven parallel robots (CDPRs) are a special subclass of cable-driven robots that offer mobility in air compared with the traditional CDPRs. These flying CDPRs possess weaker stiffness due to their high maneuverability and cable’s unilaterality, which may result in fluctuations around a desired nominal moving platform pose. The focus of this study is on the derivation of the overall stiffness and enhancement method of stiffness with regard to the weakest degree of freedom. The overall stiffness is divided into two parts, namely, active and passive stiffnesses. The line geometry theory is introduced to derive the explicit expression of the active stiffness, which is a 3D Hessian matrix. Results showed that the rotational stiffness around the z-axis kzz is the weakest stiffness based on the overall stiffness matrix expression. Furthermore, we summarize the stiffness distribution of the flying CDPR in the entire workspace. Specifically, we present a stiffness-oriented cable tension distribution algorithm to achieve the best feasible stiffness considering the enhancement of kzz and tensions’ limit, which is only applicable for the flying CDPR with redundant actuation. Simulation results demonstrate that the proposed algorithm can remarkably enhance stiffness.

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Acknowledgment

This work was supported by the Shaanxi Provincial Science and Technology Department (Grant Nos. 2015KTZDGY-02-01, 2022GY-068, and 2022GY-316).

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Authors and Affiliations

  1. School of Mechatronic Engineering, Xi’an Technological University, Xi’an, Shaanxi, 710021, China

    Tiantian Gao, Qin Wang, Yu Su, Junwei Tian & Song Wu

  2. Undergraduate School, Xi’an Technological University, Xi’an, Shaanxi, 710021, China

    Jia Wang

Authors
  1. Tiantian Gao
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  2. Qin Wang
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  3. Jia Wang
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  4. Yu Su
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  5. Junwei Tian
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  6. Song Wu
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Correspondence to Qin Wang or Yu Su.

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The authors declare no conflicts of interest.

Additional information

Tiantian Gao is a graduate student in the School of Mechatronic Engineering at Xi’an Technological University. She is currently pursuing her master’s degree at Xi’an Technological University. Her research interests include temperature control and heat dissipation analysis.

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Gao, T., Wang, Q., Wang, J. et al. Overall stiffness derivation and enhancement algorithm of a flying cable-driven parallel robot. J Mech Sci Technol 38, 873–884 (2024). https://doi.org/10.1007/s12206-024-0134-9

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  • DOI: https://doi.org/10.1007/s12206-024-0134-9

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