Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device

Yiliang Tong; Jingfeng He

doi:10.1109/IRCE.2018.8492959

Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device

Yiliang Tong
, Jingfeng He

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

A Marine salvage device generally requires the operation can be carried out under the interference of waves and wind in rough ocean circumstances. This paper presents a fully constrained cable-driven parallel mechanism as a salvage device with low self-weight, high speed and large workspace. It controls the motion of the moving platform through eight cables which should always being in tension to prevent the sagging and remain rigidity of the mechanism. In this paper, the integrated dynamic model of this cable-driven parallel mechanism first be derived and the control scheme then be developed. To retain cable tensions positive, avoiding loose or sagging, a closed-form force distribution method is employed. In the end, simulation results validated the effectiveness of modeling and force distribution control.

Original language	English
Title of host publication	2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	198-202
Number of pages	5
ISBN (Electronic)	9781538674161
DOIs	https://doi.org/10.1109/IRCE.2018.8492959
State	Published - 15 Oct 2018
Event	2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018 - Lanzhou, China Duration: 24 Aug 2018 → 27 Aug 2018

Publication series

Name	2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018

Conference

Conference	2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018
Country/Territory	China
City	Lanzhou
Period	24/08/18 → 27/08/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

cable-driven parallel mechanism
force distribution
fully constrained
redundant actuation

Access to Document

10.1109/IRCE.2018.8492959

Cite this

Tong, Y., & He, J. (2018). Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device. In 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018 (pp. 198-202). Article 8492959 (2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRCE.2018.8492959

Tong, Yiliang ; He, Jingfeng. / Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device. 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 198-202 (2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018).

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title = "Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device",

abstract = "A Marine salvage device generally requires the operation can be carried out under the interference of waves and wind in rough ocean circumstances. This paper presents a fully constrained cable-driven parallel mechanism as a salvage device with low self-weight, high speed and large workspace. It controls the motion of the moving platform through eight cables which should always being in tension to prevent the sagging and remain rigidity of the mechanism. In this paper, the integrated dynamic model of this cable-driven parallel mechanism first be derived and the control scheme then be developed. To retain cable tensions positive, avoiding loose or sagging, a closed-form force distribution method is employed. In the end, simulation results validated the effectiveness of modeling and force distribution control.",

keywords = "cable-driven parallel mechanism, force distribution, fully constrained, redundant actuation",

author = "Yiliang Tong and Jingfeng He",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018 ; Conference date: 24-08-2018 Through 27-08-2018",

year = "2018",

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series = "2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018",

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Tong, Y & He, J 2018, Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device. in 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018., 8492959, 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018, Institute of Electrical and Electronics Engineers Inc., pp. 198-202, 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018, Lanzhou, China, 24/08/18. https://doi.org/10.1109/IRCE.2018.8492959

Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device. / Tong, Yiliang; He, Jingfeng.
2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 198-202 8492959 (2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - He, Jingfeng

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Y1 - 2018/10/15

N2 - A Marine salvage device generally requires the operation can be carried out under the interference of waves and wind in rough ocean circumstances. This paper presents a fully constrained cable-driven parallel mechanism as a salvage device with low self-weight, high speed and large workspace. It controls the motion of the moving platform through eight cables which should always being in tension to prevent the sagging and remain rigidity of the mechanism. In this paper, the integrated dynamic model of this cable-driven parallel mechanism first be derived and the control scheme then be developed. To retain cable tensions positive, avoiding loose or sagging, a closed-form force distribution method is employed. In the end, simulation results validated the effectiveness of modeling and force distribution control.

AB - A Marine salvage device generally requires the operation can be carried out under the interference of waves and wind in rough ocean circumstances. This paper presents a fully constrained cable-driven parallel mechanism as a salvage device with low self-weight, high speed and large workspace. It controls the motion of the moving platform through eight cables which should always being in tension to prevent the sagging and remain rigidity of the mechanism. In this paper, the integrated dynamic model of this cable-driven parallel mechanism first be derived and the control scheme then be developed. To retain cable tensions positive, avoiding loose or sagging, a closed-form force distribution method is employed. In the end, simulation results validated the effectiveness of modeling and force distribution control.

KW - cable-driven parallel mechanism

KW - force distribution

KW - fully constrained

KW - redundant actuation

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M3 - 会议稿件

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T3 - 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018

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BT - 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 24 August 2018 through 27 August 2018

ER -

Tong Y, He J. Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device. In 2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 198-202. 8492959. (2018 IEEE International Conference of Intelligent Robotic and Control Engineering, IRCE 2018). doi: 10.1109/IRCE.2018.8492959

Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device

Abstract

Publication series

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UN SDGs

Keywords

Access to Document

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