设计并实验验证三缆柔性机器人系统，支持复杂运动规划与振动研究。
Design, fabrication and control of a cable-driven parallel robot
- 采用三缆结构设计柔性机器人，通过可调电缆实现灵活操控。
- 实验平台能复现大型系统中的电缆横向振动现象。
- 适合研究动力学建模、控制算法及高级运动规划的验证。
在缆绳驱动并联机器人（CDPR）中，负载通过一组可调控长度的缆绳悬挂，从而在工作空间内移动。相比刚性连杆机器人，CDPR凭借缆绳的柔性带来更好的机动性，并因缆绳高强重比而能耗更低。然而，缆绳的柔性以及只能受拉不能受压的特性使得其动力学极为复杂，需发展先进建模方法与控制算法以充分发挥其潜力。此外，鉴于其复杂动力学特性，所提出的模型与控制算法必须在实验平台上验证其实际有效性。我们此前已构建了一个三缆CDPR的完整实验平台，并在该平台上验证了基本开环运动规划算法。本文详细描述了该平台的设计与制造过程，包括部件选型与装配，并展示实验结果。该平台可重现大型CDPR中常见的缆绳横向振动现象，未来将用于建模与控制此类动态行为，并验证更复杂的运动规划算法。
原文摘要 · Abstract (English)
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due to the flexibility of the cables and consume lesser power due to the high strength-to-weight ratio of the cables. However, amongst other things, the flexibility of the cables and the fact that they can only pull (and not push) render the dynamics of CDPRs complex. Hence advanced modelling paradigms and control algorithms must be developed to fully utilize the potential of CDPRs. Furthermore, given the complex dynamics of CDPRs, the models and control algorithms proposed for them must be validated on experimental setups to ascertain their efficacy in practice. We have recently developed an elaborate experimental setup for a CDPR with three cables and validated elementary open-loop motion planning algorithms on it. In this paper, we describe several aspects of the design and fabrication of our setup, including component selection and assembly, and present our experimental results. Our setup can reproduce complex phenomenon such as the transverse vibration of the cables seen in large CDPRs and will in the future be used to model and control such phenomenon and also to validate more sophisticated motion planning algorithms.
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