Forward Kinematics Analysis of a Four-Cable-Driving Parallel Robot

被引：1

作者：

Shao, Xingguo ^{[1
]}

Zhu, Zhencai ^{[1
]}

Cao, Guohua ^{[1
]}

Li, Yilei ^{[1
]}

机构：

[1] China Univ Min & Technol, Xuzhou 221008, Jiangsu, Peoples R China

来源：

CHEMICAL, MECHANICAL AND MATERIALS ENGINEERING | 2011年 / 79卷

关键词：

forward kinematics; tension state; sinking winch mechanism; cable-driving parallel robot; MECHANISM;

D O I：

10.4028/www.scientific.net/AMM.79.13

中图分类号：

TQ [化学工业];

学科分类号：

0817 ;

摘要：

This paper studies the forward kinematics of a sinking winch mechanism, which is in category of four-cable-driving parallel robot. The tension states (tautness or slackness) of cables are firstly taken into consideration in the forward kinematics model. We propose a traversal algorithm to solve the model. Both pose of platform and the tensions in cables can be solved if the lengths of four cables are given. The effectiveness of the algorithm is demonstrated by three examples. The results of this paper can be used to measure the pose of platform and the tensions of cables from the lengths of four cables.

引用

页码：13 / 18

页数：6

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