Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator

被引：1

作者：

Abdelaziz, S. ^{[1
]}

Renaud, P. ^{[1
]}

Bayle, B. ^{[1
]}

de Mathelin, M. ^{[1
]}

机构：

[1] LSIIT CNRS Strasbourg Univ, Strasbourg, France

来源：

ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年

关键词：

Wire-driven manipulator; interval analysis; structural analysis; WORKSPACE;

D O I：

10.1007/978-90-481-9262-5_16

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, we consider wire-driven manipulators with instrumented truss structure for cable tension evaluation. For such mechanisms, we propose to perform the structural analysis using interval analysis. We introduce an algorithm to perform simultaneously kinematic and structural analysis. Examples are introduced to show the interest of the approach.

引用

页码：147 / 156

页数：10

共 13 条

[1]

[Anonymous], 2004, VASCULAR INTERVENTIO

[2] Determination of the dynamic workspace of cable-driven planar parallel mechanisms [J].

Barrette, G ;

Gosselin, CM .

JOURNAL OF MECHANICAL DESIGN, 2005, 127 (02) :242-248

[3] Wrench-based analysis of cable-driven robots [J].

Bosscher, P ;

Ebert-Uphoff, I .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :4950-4955

[4]

Bouchard S., 2008, P INT DES ENG TECHN

[5] An interval analysis based study for the design and the comparison of three-degrees-of-freedom parallel kinematic machines [J].

Chablat, D ;

Wenger, P ;

Majou, F ;

Merlet, JP .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2004, 23 (06) :615-624

[6]

CHABLAT D, 1998, 12 ROMANSY, P61

[7] Wrench-feasible workspace of parallel cable-dirven mechanisms [J].

Gouttefarde, Marc ;

Merlet, Jean-Pierre ;

Daney, David .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :1492-+

[8]

Lafourcade P., 2004, THESIS NATL HIGHER S

[9] INNOMOTION for percutaneous image-guided interventions [J].

Melzer, Andreas ;

Gutmann, Bernd ;

Remmele, Thomas ;

Wolf, Renate ;

Lukoscheck, Andreas ;

Bock, Michael ;

Bardenheuer, Hubert ;

Fischer, Harald .

IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE, 2008, 27 (03) :66-73

[10]

Merlet JP, 2004, ON ADVANCES IN ROBOT KINEMATICS, P211

← 1 2 →