Interference Determination for Parallel Cable-Driven Robots

被引：0
|
作者：
Su, Yu [1 ]
Mi, Jianwei [1 ]
Qiu, Yuanying [1 ]
机构：
[1] Xidian Univ, Minist Educ, Key Lab Elect Equipment Struct Design, Xian 710071, Shaanxi, Peoples R China
来源：
ADVANCED DESIGN TECHNOLOGY, PTS 1-3 | 2011年 / 308-310卷
关键词：
Interference; Complete condition; Parallel cable-driven robots; Parallel robots;
D O I：
10.4028/www.scientific.net/AMR.308-310.2013
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper develops an approach to overcome the misjudgment and omission problems of determining interference for parallel cable-driven robots, which is essential to clear interference classification in the first place. According to the clear classification, interference condition between a cable and a cable or a cable and an edge of the end-effector has been derived according to all kinds of position relations between the feet of the common perpendicular; the on a cable with a plane of the end-effector has been proved. Compared with the existing approaches, the proposed method can determine the interference region more reasonably.
引用
收藏
页码：2013 / 2018
页数：6
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