Cable Tension

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Si-lu Chen - One of the best experts on this subject based on the ideXlab platform.

  • study on stiffness oriented Cable Tension distribution for a symmetrical Cable driven mechanism
    Symmetry, 2019
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen, Zaojun Fang, Tianjiang Zheng, Chongchong Wang
    Abstract:

    In this paper, we focus on the issues pertaining to stiffness-oriented Cable Tension distribution for a symmetrical 6-Cable-driven spherical joint module (6-CSJM), which can be employed to construct modular Cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three Cables are employed for position regulation by adjusting the Cable lengths, and the remaining three Cables are utilized for stiffness regulation by adjusting the Cable Tensions, i.e., the position and stiffness can be regulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device (VSD) is designed, which is serially connected to the driving Cable. Since the stiffness model of the 6-CSJM with VSDs is very complicated, it is difficult to directly solve the Cable Tensions from the desired stiffness. The stiffness-oriented Cable Tension distribution issue is formulated as a nonlinear constrained optimization problem, and the Complex method is employed to obtain optimal Tension distributions. Furthermore, to significantly improve the computation efficiency, a decision variable elimination technique is proposed to deal with the equality constraints, which reduces decision variables from 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposed method, showing that the 6-CSJM can accurately achieve the desired stiffness through Cable Tension optimization.

  • Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism
    'MDPI AG', 2019
    Co-Authors: Yang Kaisheng, Yi Wang, Si-lu Chen, Yang Guilin, Zhang Chi, Fang Zaojun, Zheng Tianjiang, Wang Chongchong
    Abstract:

    Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanis

  • stiffness oriented Cable Tension distribution algorithm for a 3 dof Cable driven variable stiffness module
    International Conference on Advanced Intelligent Mechatronics, 2017
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen
    Abstract:

    A modular Cable-driven manipulator that consists of Cable-driven joint modules can produce intrinsically-safe motions because of its light-weight structure and variable-stiffness property. In this paper, we focus on the issue of stiffness-oriented Cable Tension distribution for a 3-DOF 6-Cable Cable-driven Spherical Joint Module (CSJM), which is modeled as a convex optimization problem. An algorithm based on Lagrange multiplier method and Karush-Kuhn-Tucker (KKT) Condition is employed to find the optimal Cable Tension solution. To validate the proposed algorithm, a simulation example with four cases is carried out. The result shows that the required stiffness can be successfully achieved through Cable Tension regulation.

  • AIM - Stiffness-oriented Cable Tension distribution algorithm for a 3-DOF Cable-driven variable-stiffness module
    2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen
    Abstract:

    A modular Cable-driven manipulator that consists of Cable-driven joint modules can produce intrinsically-safe motions because of its light-weight structure and variable-stiffness property. In this paper, we focus on the issue of stiffness-oriented Cable Tension distribution for a 3-DOF 6-Cable Cable-driven Spherical Joint Module (CSJM), which is modeled as a convex optimization problem. An algorithm based on Lagrange multiplier method and Karush-Kuhn-Tucker (KKT) Condition is employed to find the optimal Cable Tension solution. To validate the proposed algorithm, a simulation example with four cases is carried out. The result shows that the required stiffness can be successfully achieved through Cable Tension regulation.

Chen Wei-min - One of the best experts on this subject based on the ideXlab platform.

  • Study on Cable Tension Stress Influence of Cable Tension Sensor Based on Villari-Effect
    Chinese Journal of Sensors and Actuators, 2009
    Co-Authors: Chen Wei-min
    Abstract:

    Basing on theory model of Cable Tension sensor and one loop-shaped stimulative structure of Cable Tension sensor,the basic principle of Cable Tension measurement is discussed.Sensor output may be determined by magnetic field,stress,air clearance,magnetic permeability and inductive loops denseness.The sensor output effects resulting from sensor stress are deeply analyzed when magnetic field is constant.In addition,when stress changes tardigradely,Cable Tension stress may be measured by measuring inductive integral voltage.When stress changes expeditiously,Cable Tension stress may be measured by measuring inductive voltage.Sensor sensibility may be determined by stress frequency,inductive loops denseness.Finally,the sensor output effects from stress changing have been analyzed with emulational method.The results indicate that when stress changes tardigradely inductive integral voltage is proportional to Cable Tension force,sensor sensitivity is determined by inductive loops denseness and villari-effect coefficient.

  • Simulation of the Influence of Invigorative Magnetic Field on Cable Tension Sensor Based on Villari-effect
    Computer Simulation, 2009
    Co-Authors: Chen Wei-min
    Abstract:

    Based on the theoretical model of Cable Tension sensor and one loop-shaped stimulative structure of Cable Tension sensor,the basic principle of Cable Tension measurement is discussed.Sensor output may be determined by air clearance,magnetic permeability,magnetic field,stress and inductive loop denseness.The sensor output effects resulting from magnetic field are deeply analyzed when the magnetic field is constant,alternating and rectangular.In addition,sensor output effects from magnetic changing have been analyzed with emulational method.The emulational results indicate that when magnetic field is constant,Cable Tension stress may be measured by measuring inductive voltage in inductive loops.When magnetic field is alternating,the frequency of magnetic field has influence on Cable sensor output.Inductive voltage is proportional to magnetic field frequency.

Duan Xin - One of the best experts on this subject based on the ideXlab platform.

  • Theoretical and experimental study on Cable Tension estimation by vibration method accounting for flexural stiffness and flexibility support
    Journal of Earthquake Engineering and Engineering Vibration, 2011
    Co-Authors: Duan Xin
    Abstract:

    This paper presents a systematic approach to estimating the Cable Tension,when flexural stiffness,rotational end restraints and elastic support are taken into account.To estimate the Cable Tension precisely,the theoretical model considering flexural stiffness,rotational end restraints and elastic support is formed,then the formulas to estimate Cable Tension and boundary conditions are found and when the elastic support stiffness is infinite,the formulas are the same as the formulas that do not account for the influence of elastic support.Three elastic support stiffness experiments are conducted to verify the estimation approach,and the experiments' results show: when the elastic support stiffness is small,the estimated Cable Tension deviates from the actual Cable Tension;the formula considering flexural stiffness and elastic support stiffness can estimate the Cable Tension precisely.

  • Estimation of Cable Tension Force and Flexural Stiffness by Sequential Quadratic Programming
    Jiangxi Science, 2009
    Co-Authors: Duan Xin
    Abstract:

    This paper presented sequential quadratic programming to detect the Cable Tension and flexural stiffness simultaneously.The reciprocals of the square of frequencies are used as weighted factors and several sequential quadratic programming are used to ensure convergence to the accurate value of Cable Tension and flexural stiffness.Three samples verify the effect of detecting the Cable Tension and flexural stiffness.The sequential quadratic programming is global convergent and one order local convergent to solve the optimistic problem about Cable Tension and flexural stiffness.

  • THEORETICAL STUDY ON Cable Tension DETECTION CONSIDERING BENDING STIFFNESS
    Journal of Shaanxi University of Science & Technology, 2009
    Co-Authors: Duan Xin
    Abstract:

    In order to get accurate Cable Tension,a approach to identify the Cable Tension considering the bending stiffness are proposed.Firstly,the quantified definition about Cable is given.Secondly,a physical model is built to investigate dynamics of the Cable.The investigation showed that for low Cable Tension and short Cable the influence of bending stiffness can not be neglected.Finally,the practical formulas are presented.Those are simple formulas for the method and it is easy to apply to practical project.

  • Theoretical study of Cable Tension detection considering bending stiffness
    Journal of Shaanxi University of Technology, 2009
    Co-Authors: Duan Xin
    Abstract:

    In order to get an accurate Cable Tension,approaches to identify the Cable Tension considering the bending stiffness are proposed.Firstly,the quantified definition about Cable is given.Secondly,a physical model is built up to investigate the dynamics of the Cable.The investigation showed that for low Cable Tension and short Cable the influence of bending stiffness can not be neglected.Finally,the practical formulas are presented.Those are simple formulas for the method and it is easy to be applied to in practical projects.

  • Theoretical Study on Cable Tension Detection Considering Support Vibration
    Jiangxi Science, 2009
    Co-Authors: Duan Xin
    Abstract:

    The main objective of our investigation has been to obtain some knowledge of Cable Tension detection.The fundamental feature of this theory is as follows.Boundary conditions are simulated through equivalent stiffness and mass.The Cable structure is studied to form a dynamical model considering support vibration.The displacement function is formed by the dynamical model.The energy method is used to obtain stiffness and mass matrix to discuss the relationship between Cable Tension and frequency considering the effect of support vibration.Carry out several studies which have demonstrated that the Cable Tension will be less than the actual value if the equivalent stiffness is small and the support condition is neglected;the Cable Tension will be less than the actual value if the equivalent stiffness is large and the support condition is neglected.The model considering the support vibration can accurately model the Cable structure,which is a practical model to dynamical analysis.

Yi Wang - One of the best experts on this subject based on the ideXlab platform.

  • study on stiffness oriented Cable Tension distribution for a symmetrical Cable driven mechanism
    Symmetry, 2019
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen, Zaojun Fang, Tianjiang Zheng, Chongchong Wang
    Abstract:

    In this paper, we focus on the issues pertaining to stiffness-oriented Cable Tension distribution for a symmetrical 6-Cable-driven spherical joint module (6-CSJM), which can be employed to construct modular Cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three Cables are employed for position regulation by adjusting the Cable lengths, and the remaining three Cables are utilized for stiffness regulation by adjusting the Cable Tensions, i.e., the position and stiffness can be regulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device (VSD) is designed, which is serially connected to the driving Cable. Since the stiffness model of the 6-CSJM with VSDs is very complicated, it is difficult to directly solve the Cable Tensions from the desired stiffness. The stiffness-oriented Cable Tension distribution issue is formulated as a nonlinear constrained optimization problem, and the Complex method is employed to obtain optimal Tension distributions. Furthermore, to significantly improve the computation efficiency, a decision variable elimination technique is proposed to deal with the equality constraints, which reduces decision variables from 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposed method, showing that the 6-CSJM can accurately achieve the desired stiffness through Cable Tension optimization.

  • Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism
    'MDPI AG', 2019
    Co-Authors: Yang Kaisheng, Yi Wang, Si-lu Chen, Yang Guilin, Zhang Chi, Fang Zaojun, Zheng Tianjiang, Wang Chongchong
    Abstract:

    Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanis

  • stiffness oriented Cable Tension distribution algorithm for a 3 dof Cable driven variable stiffness module
    International Conference on Advanced Intelligent Mechatronics, 2017
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen
    Abstract:

    A modular Cable-driven manipulator that consists of Cable-driven joint modules can produce intrinsically-safe motions because of its light-weight structure and variable-stiffness property. In this paper, we focus on the issue of stiffness-oriented Cable Tension distribution for a 3-DOF 6-Cable Cable-driven Spherical Joint Module (CSJM), which is modeled as a convex optimization problem. An algorithm based on Lagrange multiplier method and Karush-Kuhn-Tucker (KKT) Condition is employed to find the optimal Cable Tension solution. To validate the proposed algorithm, a simulation example with four cases is carried out. The result shows that the required stiffness can be successfully achieved through Cable Tension regulation.

  • AIM - Stiffness-oriented Cable Tension distribution algorithm for a 3-DOF Cable-driven variable-stiffness module
    2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen
    Abstract:

    A modular Cable-driven manipulator that consists of Cable-driven joint modules can produce intrinsically-safe motions because of its light-weight structure and variable-stiffness property. In this paper, we focus on the issue of stiffness-oriented Cable Tension distribution for a 3-DOF 6-Cable Cable-driven Spherical Joint Module (CSJM), which is modeled as a convex optimization problem. An algorithm based on Lagrange multiplier method and Karush-Kuhn-Tucker (KKT) Condition is employed to find the optimal Cable Tension solution. To validate the proposed algorithm, a simulation example with four cases is carried out. The result shows that the required stiffness can be successfully achieved through Cable Tension regulation.

Kaisheng Yang - One of the best experts on this subject based on the ideXlab platform.

  • study on stiffness oriented Cable Tension distribution for a symmetrical Cable driven mechanism
    Symmetry, 2019
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen, Zaojun Fang, Tianjiang Zheng, Chongchong Wang
    Abstract:

    In this paper, we focus on the issues pertaining to stiffness-oriented Cable Tension distribution for a symmetrical 6-Cable-driven spherical joint module (6-CSJM), which can be employed to construct modular Cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three Cables are employed for position regulation by adjusting the Cable lengths, and the remaining three Cables are utilized for stiffness regulation by adjusting the Cable Tensions, i.e., the position and stiffness can be regulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device (VSD) is designed, which is serially connected to the driving Cable. Since the stiffness model of the 6-CSJM with VSDs is very complicated, it is difficult to directly solve the Cable Tensions from the desired stiffness. The stiffness-oriented Cable Tension distribution issue is formulated as a nonlinear constrained optimization problem, and the Complex method is employed to obtain optimal Tension distributions. Furthermore, to significantly improve the computation efficiency, a decision variable elimination technique is proposed to deal with the equality constraints, which reduces decision variables from 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposed method, showing that the 6-CSJM can accurately achieve the desired stiffness through Cable Tension optimization.

  • stiffness oriented Cable Tension distribution algorithm for a 3 dof Cable driven variable stiffness module
    International Conference on Advanced Intelligent Mechatronics, 2017
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen
    Abstract:

    A modular Cable-driven manipulator that consists of Cable-driven joint modules can produce intrinsically-safe motions because of its light-weight structure and variable-stiffness property. In this paper, we focus on the issue of stiffness-oriented Cable Tension distribution for a 3-DOF 6-Cable Cable-driven Spherical Joint Module (CSJM), which is modeled as a convex optimization problem. An algorithm based on Lagrange multiplier method and Karush-Kuhn-Tucker (KKT) Condition is employed to find the optimal Cable Tension solution. To validate the proposed algorithm, a simulation example with four cases is carried out. The result shows that the required stiffness can be successfully achieved through Cable Tension regulation.

  • AIM - Stiffness-oriented Cable Tension distribution algorithm for a 3-DOF Cable-driven variable-stiffness module
    2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017
    Co-Authors: Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-lu Chen
    Abstract:

    A modular Cable-driven manipulator that consists of Cable-driven joint modules can produce intrinsically-safe motions because of its light-weight structure and variable-stiffness property. In this paper, we focus on the issue of stiffness-oriented Cable Tension distribution for a 3-DOF 6-Cable Cable-driven Spherical Joint Module (CSJM), which is modeled as a convex optimization problem. An algorithm based on Lagrange multiplier method and Karush-Kuhn-Tucker (KKT) Condition is employed to find the optimal Cable Tension solution. To validate the proposed algorithm, a simulation example with four cases is carried out. The result shows that the required stiffness can be successfully achieved through Cable Tension regulation.

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