Developing a hybrid actuated cable-driven parallel manipulator using a compact tape rod actuator
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Date
2025-02
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University of New Brunswick
Abstract
Cable-driven parallel manipulators (CDPMs) are an active area of research due to their efficiency, speed, and range of workspace sizes. In this work, a parallel manipulator with hybrid actuation is developed to expand the capabilities of conventional CDPMs by adding a compact linear actuator. The linear actuator, which unlike cable actuators can push and pull, is created using three tape measures forming a rigid rod that can be spooled. The combined mechanism is controlled using position and force sensors for each of the four actuators. The mechanical design, control system, kinematics, and electronics are discussed.
The cable and tape rod actuators were tested individually and as a manipulator with quasi-static loading. The control system and cable actuators were able to reliably apply compressive forces to the tape rod actuator, which experienced early fatigue and excessive wear.