Comparison of Internal Force Antagonism Between Redundant Cable-Driven Parallel Robots and Redundant Rigid Parallel Robots

Taming Internal Force Antagonism in Parallel Robots Taming Internal Force Antagonism in Parallel Robots

Taming Internal Force Antagonism in Parallel Robots In the fast-evolving world of mechanical engineering, redundant parallel robots promise transformative potential in industrial automation. Yet, a persistent hurdle stands in their way: internal force antagonism (IFA). This issue, unique to redundant designs, emerges when position control systems bring joints into alignment, but internal forces continue to push against each other. Left unchecked…

Comparison of Internal Force Antagonism Between Redundant Cable-Driven Parallel Robots and Redundant Rigid Parallel Robots

Newswise — In the field of mechanical engineering, redundant parallel robots have broad application prospects in industrial production, but their internal force antagonism (IFA) problem has become a key factor restricting their popularization. IFA refers to the phenomenon where, in the position control of parallel robots, position variables converge and stabilize, but internal forces within joints antagonize each other and keep increasing. This …