Workspace Analysis of a Hybrid-Driven Cable Parallel Mechanism

被引：1

作者：

Zi, Bin ^{[1
]}

Cao, Jianbin ^{[1
]}

机构：

[1] China Univ Min & Technol, Sch Mech & Elect Engn, Xuzhou 221116, Jiangsu, Peoples R China

来源：

MECHANICAL, MATERIALS AND MANUFACTURING ENGINEERING, PTS 1-3 | 2011年 / 66-68卷

关键词：

Hybrid-Driven Cable Parallel Mechanism; Kinematic Analysis; Workspace; DESIGN; ROBOT;

D O I：

10.4028/www.scientific.net/AMM.66-68.802

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents a new-type hybrid-driven cable parallel mechanism, which combines hybrid-driven mechanism with cable parallel mechanism, and the mechanism can not only operate with high speed, high accuracy, and high payload, but also have high performance output movement. The workspace of hybrid-driven cable parallel mechanism is characterized as the space where the end-effector can reach with tensions in all cables, and it is studied in this paper. Firstly, through the kinematic analysis, it can be derived the location equations of the end-effector. Then, the paper analyzes the main factors influencing the workspace of hybrid-driven cable parallel mechanism such as cable tension, workspace of hybrid-driven mechanism, the length of cables, and the motion range. At the end, with the location equations and constraints, the workspace is determined. Computational example is provided to demonstrate the effectiveness of the proposed analysis method.

引用

页码：802 / 806

页数：5

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