Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables

<p>The mapping relationship between the driving space and the workspace is essential for the precise control of a cable-driven hyper-redundant robot. For a hyper-redundant robot driven by cables, the relationships between the driving space and the joint space and between the joint space and th...

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Autores principales:	L. Zhang, G. Ouyang, Z. Du
Formato:	article
Lenguaje:	EN
Publicado:	Copernicus Publications 2021
Materias:	Materials of engineering and construction. Mechanics of materials TA401-492
Acceso en línea:	https://doaj.org/article/7cb9d6735bd9442bac6a12dae1e95714
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id	oai:doaj.org-article:7cb9d6735bd9442bac6a12dae1e95714
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spelling	oai:doaj.org-article:7cb9d6735bd9442bac6a12dae1e957142021-11-23T06:11:07ZKinematics decoupling analysis of a hyper-redundant manipulator driven by cables10.5194/ms-12-1017-20212191-91512191-916Xhttps://doaj.org/article/7cb9d6735bd9442bac6a12dae1e957142021-11-01T00:00:00Zhttps://ms.copernicus.org/articles/12/1017/2021/ms-12-1017-2021.pdfhttps://doaj.org/toc/2191-9151https://doaj.org/toc/2191-916X<p>The mapping relationship between the driving space and the workspace is essential for the precise control of a cable-driven hyper-redundant robot. For a hyper-redundant robot driven by cables, the relationships between the driving space and the joint space and between the joint space and the workspace were studied. A joint-decoupling kinematics analysis method was proposed and a kinematic analysis was presented. Based on the analysis of the coupling effect between the cable-driving space and the joint space, a decoupling analysis of the whole cable-driving space and joint space was conducted to eliminate the coupling effect between the joints, and the mapping relationship between the driving cables and the joint angles was obtained. Given the initial and target orientations of the hyper-redundant robot, the variation law for each joint angle was obtained using quintic polynomial trajectory planning and the pseudo-inverse Jacobian matrix, and then the driving cable variation law could be solved. Based on the results, the joint angle changes and the workspace trajectories were solved in turn. By comparing with the initial trajectory, the simulation results verified the appropriateness of the decoupling analysis.</p>L. ZhangL. ZhangG. OuyangG. OuyangZ. DuCopernicus PublicationsarticleMaterials of engineering and construction. Mechanics of materialsTA401-492ENMechanical Sciences, Vol 12, Pp 1017-1026 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Materials of engineering and construction. Mechanics of materials TA401-492
spellingShingle	Materials of engineering and construction. Mechanics of materials TA401-492 L. Zhang L. Zhang G. Ouyang G. Ouyang Z. Du Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
description	<p>The mapping relationship between the driving space and the workspace is essential for the precise control of a cable-driven hyper-redundant robot. For a hyper-redundant robot driven by cables, the relationships between the driving space and the joint space and between the joint space and the workspace were studied. A joint-decoupling kinematics analysis method was proposed and a kinematic analysis was presented. Based on the analysis of the coupling effect between the cable-driving space and the joint space, a decoupling analysis of the whole cable-driving space and joint space was conducted to eliminate the coupling effect between the joints, and the mapping relationship between the driving cables and the joint angles was obtained. Given the initial and target orientations of the hyper-redundant robot, the variation law for each joint angle was obtained using quintic polynomial trajectory planning and the pseudo-inverse Jacobian matrix, and then the driving cable variation law could be solved. Based on the results, the joint angle changes and the workspace trajectories were solved in turn. By comparing with the initial trajectory, the simulation results verified the appropriateness of the decoupling analysis.</p>
format	article
author	L. Zhang L. Zhang G. Ouyang G. Ouyang Z. Du
author_facet	L. Zhang L. Zhang G. Ouyang G. Ouyang Z. Du
author_sort	L. Zhang
title	Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
title_short	Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
title_full	Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
title_fullStr	Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
title_full_unstemmed	Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
title_sort	kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
publisher	Copernicus Publications
publishDate	2021
url	https://doaj.org/article/7cb9d6735bd9442bac6a12dae1e95714
work_keys_str_mv	AT lzhang kinematicsdecouplinganalysisofahyperredundantmanipulatordrivenbycables AT lzhang kinematicsdecouplinganalysisofahyperredundantmanipulatordrivenbycables AT gouyang kinematicsdecouplinganalysisofahyperredundantmanipulatordrivenbycables AT gouyang kinematicsdecouplinganalysisofahyperredundantmanipulatordrivenbycables AT zdu kinematicsdecouplinganalysisofahyperredundantmanipulatordrivenbycables
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Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables

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