Analysis and design of a four-cable-driven parallel manipulator for planar and spatial tasks

被引：5

作者：

Ottaviano, E. ^{[1
]}

机构：

[1] Univ Cassino, DIMSAT, LARM Lab Robot & Mech, I-03043 Cassino, FR, Italy

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2008年 / 222卷 / 08期

关键词：

parallel manipulators; cable-driven systems; kinetostatics; workspace;

D O I：

10.1243/09544062JMES880

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, the design and kinematic performances are presented for a parallel manipulator with four driven cables. Kinetostatic analysis has been performed for both planar and spatial operations of the manipulator as based on a geometrical approach. A low-cost prototype has been built and an application is proposed to show the feasibility of the system design and its operation.

引用

页码：1583 / 1592

页数：10

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