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IJMERR 2022 Vol.11(10): 755-760

Winch-Integrated Cable Force Measurement and Verification on Driven Cable Parallel Robot 6 D.o.F

Tong Thi Phuong Thanh and Nguyen Truong Thinh
Department of Mechatronics, Ho Chi Minh City University of Technology and Education Thu Duc City, Ho Chi Minh City, Vietnam

Abstract—A parallel robot was controlled by a cable that  manipulated the end effector in the workspace. The force  sensor was used to measure cable force, is placed near the  drum. From there, the controller computes and executes the  necessary control commands. The purpose of this work is to  concentrate on string tension modeling and frictional  compensation. The cable tension should be adjusted within  the desired range, according to the tension measurements  given on the winch's pulley side, to avoid sagging cable. The  accuracy of the force measured at the force sensor is  influenced by the pulley system. Simulate the Dahl model  and the Coulomb model, from which you select the  appropriate model to compensate for friction. This frictioncompensated  model shows a 65% improvement in string  tension accuracy compared to the uncompensated force. 

Index Terms—cable robot, Dahl model, 6 dof, CDPR,  tension force, friction, cable force 

Cite: Tong Thi Phuong Thanh and Nguyen Truong Thinh, "Winch-Integrated Cable Force Measurement and Verification on Driven Cable Parallel Robot 6 D.o.F," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 10, pp. 755-760, October 2022. DOI: 10.18178/ijmerr.11.10.755-760

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