Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-8198
Main Title: Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support
Author(s): Zhao, Xingwei
Zi, Bin
Qian, Lu
Type: Article
Language Code: en
Abstract: The neck is an important part of the body that connects the head to the torso, supporting the weight and generating the movement of the head. In this paper, a cable-driven parallel platform with a pneumatic muscle active support (CPPPMS) is presented for imitating human necks, where cable actuators imitate neck muscles and a pneumatic muscle actuator imitates spinal muscles, respectively. Analyzing the stiffness of the mechanism is carried out based on screw theory, and this mechanism is optimized according to the stiffness characteristics. While taking the dynamics of the pneumatic muscle active support into consideration as well as the cable dynamics and the dynamics of the Up-platform, a dynamic modeling approach to the CPPPMS is established. In order to overcome the flexibility and uncertainties amid the dynamic model, a sliding mode controller is investigated for trajectory tracking, and the stability of the control system is verified by a Lyapunov function. Moreover, a PD controller is proposed for a comparative study. The results of the simulation indicate that the sliding mode controller is more effective than the PD controller for the CPPPMS, and the CPPPMS provides feasible performances for operations under the sliding mode control.
URI: https://depositonce.tu-berlin.de//handle/11303/9097
http://dx.doi.org/10.14279/depositonce-8198
Issue Date: 2017
Date Available: 11-Feb-2019
DDC Class: 004 Datenverarbeitung; Informatik
620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Subject(s): neck
cable-driven parallel platform
pneumatic muscle
stiffness
dynamics
sliding mode control
License: http://rightsstatements.org/vocab/InC/1.0/
Journal Title: Robotica
Publisher: Cambridge University Press
Volume: 35
Issue: 4
Publisher DOI: 10.1017/S0263574715000806
Page Start: 744
Page End: 765
EISSN: 1469-8668
ISSN: 0263-5747
Notes: Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.
Appears in Collections:FG Mechatronische Maschinendynamik » Publications

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