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Workspace Analysis and Stiffness Optimization of Snake-Like Cable-Driven Redundant Robots

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13015))

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Abstract

Snake-like cable-driven redundant robots (SCDRR) have great application prospects in narrow and complex environments, thus are being widely research in recent years. However, the effect of links length distribution on workspace is rarely studied. Meanwhile, the stiffness optimization of SCDRR is an important issue, due to its relatively poor stiffness performance compared with industrial robots. This paper first analyzes the relationship between workspace area, workspace volume and manipulability to illustrate the effect of links length distribution on workspace. Then stiffness optimization model with and without the variation of the Jacobian matrix can be established by statics and stiffness model. Lastly, simulations show that the optimization result between two models is not much different when cables tension are relatively low, while the simplify one has less computational complexity. The workspace analysis in this paper can provide guidance for SCDRR design. And the comparison of two proposed optimization model can provide a basis for the research of variable stiffness control.

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Authors and Affiliations

  1. Sun Yat-Sen University, Shenzhen, 518055, China

    Haoxuan Wu, Jianqing Peng & Yu Han

  2. Guangdong Provincial Key Laboratory of Fire Science and Technology, Guangzhou, 510006, China

    Jianqing Peng & Yu Han

Authors
  1. Haoxuan Wu
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  2. Jianqing Peng
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  3. Yu Han
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Corresponding author

Correspondence to Jianqing Peng .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Wu, H., Peng, J., Han, Y. (2021). Workspace Analysis and Stiffness Optimization of Snake-Like Cable-Driven Redundant Robots. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_60

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  • DOI: https://doi.org/10.1007/978-3-030-89134-3_60

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89133-6

  • Online ISBN: 978-3-030-89134-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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