Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support
| dc.contributor.author | Zhao, Xingwei | |
| dc.contributor.author | Zi, Bin | |
| dc.contributor.author | Qian, Lu | |
| dc.date.accessioned | 2019-02-11T17:21:05Z | |
| dc.date.available | 2019-02-11T17:21:05Z | |
| dc.date.issued | 2017 | |
| dc.description | Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich. | de |
| dc.description | 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. | en |
| dc.description.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. | en |
| dc.identifier.eissn | 1469-8668 | |
| dc.identifier.issn | 0263-5747 | |
| dc.identifier.uri | https://depositonce.tu-berlin.de/handle/11303/9097 | |
| dc.identifier.uri | http://dx.doi.org/10.14279/depositonce-8198 | |
| dc.language.iso | en | |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | |
| dc.subject.ddc | 004 Datenverarbeitung; Informatik | de |
| dc.subject.ddc | 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten | de |
| dc.subject.other | neck | en |
| dc.subject.other | cable-driven parallel platform | en |
| dc.subject.other | pneumatic muscle | en |
| dc.subject.other | stiffness | en |
| dc.subject.other | dynamics | en |
| dc.subject.other | sliding mode control | en |
| dc.title | Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support | en |
| dc.type | Article | en |
| dc.type.version | publishedVersion | en |
| dcterms.bibliographicCitation.doi | 10.1017/S0263574715000806 | |
| dcterms.bibliographicCitation.issue | 4 | |
| dcterms.bibliographicCitation.journaltitle | Robotica | en |
| dcterms.bibliographicCitation.originalpublishername | Cambridge University Press | en |
| dcterms.bibliographicCitation.pageend | 765 | |
| dcterms.bibliographicCitation.pagestart | 744 | |
| dcterms.bibliographicCitation.volume | 35 | |
| tub.accessrights.dnb | domain | |
| tub.affiliation | Fak. 5 Verkehrs- und Maschinensysteme::Inst. Mechanik::FG Mechatronische Maschinendynamik | de |
| tub.affiliation.faculty | Fak. 5 Verkehrs- und Maschinensysteme | de |
| tub.affiliation.group | FG Mechatronische Maschinendynamik | de |
| tub.affiliation.institute | Inst. Mechanik | de |
| tub.publisher.universityorinstitution | Technische Universität Berlin | de |
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