Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

被引：0

作者：

Nasr, Ali ^{[1
]}

Moosavian, S. Ali A. ^{[1
]}

机构：

[1] KN Toosi Univ Technol, Dept Mech Engn, Ctr Excellence Robot & Control, Adv Robot & Automated Syst ARAS Lab, Tehran, Iran

来源：

2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2015年

关键词：

Cable Robot; Redundant Parallel Manipulator; Kinematics Analysis; Optimal Design;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

引用

页码：1 / 6

页数：6

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