Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schonflies Motions

被引：8

作者：

Wang, Ruobing ^{[1
]}

Xie, Yanlin ^{[1
]}

Chen, Xigang ^{[1
]}

Li, Yangmin ^{[1
]}

机构：

[1] Hong Kong Polytech Univ, Dept Ind & Syst Engn, Kowloon, Hong Kong, Peoples R China

来源：

MACHINES | 2022年 / 10卷 / 06期

关键词：

cable-driven parallel robot; kinematics; dynamics; workspace; DESIGN;

D O I：

10.3390/machines10060451

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration. In this paper, we present a kinematic and dynamic modeling and workspace analysis for a novel suspended CDPR which generates Schonflies motions. Firstly, the architecture of the robot is introduced, and the inverse and forward kinematic problems of the robot are solved through a geometrical approach. Then, the dynamic equation of the robot is derived by separately considering the moving platform and the drive trains. Based on the dynamic equation, the dynamic feasible workspace of the robot is determined under different values of accelerations. Finally, experiments are performed on a prototype of the robot to demonstrate the correctness of the derived models and workspace.

引用

页数：18

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