Forward Displacement of a 4-UPS Hybrid Cable-Driven Parallel Manipulator

• Author(s) / Creator(s)

  • Sanford, Paul W.
  • Carretero, Juan A.

• The forward and inverse displacement problems (FDP, IDP) are solved for a 4-DOF hybrid cable-driven parallel manipulator. This manipulator uses three cables and one extensible rod to manipulate the mobile platform, and shares some kinematic similarities to the well-studied Stewart-Gough platform. Through the use of the dual quaternion representation of a manipulator pose and the Levenberg-Marquardt algorithm, the FDP was numerically solved at a variety of poses throughout the workspace. This method was shown to be useful at determining the correct pose from an initial guess in close proximity. The inverse displacement and velocity problems are also solved for this manipulator using the standard geometric model for cable-driven manipulators and the method of reciprocal screws.

  Part of Proceedings of the Canadian Society for Mechanical Engineering International Congress 2022.

• Date created

  2022-06-01

• Subjects / Keywords

  • cable-driven parallel manipulator
  • telescoping actuator
  • forward displacement
  • inverse displacement
  • Jacobian matrix

• Type of Item

  Article (Published)

• DOI

  https://doi.org/10.7939/r3-dvw0-ff08

• License

  Attribution-NonCommercial 4.0 International