Workspace analysis of a novel 6-dof cable-driven parallel robot

被引：8

作者：

Zhang, Yaojun ^{[1
]}

Zhang, Yuru ^{[1
]}

Dai, Xiaowei ^{[1
]}

Yang, Yi ^{[1
]}

机构：

[1] BeiHang Univ, State Key Lab Virtual Real Technol & Syst, Inst Robot, Beijing 100191, Peoples R China

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年

关键词：

D O I：

10.1109/ROBIO.2009.5420857

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a novel 6-dof cable-driven parallel robot driven by eight cables and raises the method of designing the 6-dof configuration of the robot. As the basis, the static equilibrium model of the robot is obtained. Based on the achievements of predecessors, the wrench closure workspace (WCVV) of the robot is analyzed, and the steps of analyze the translational and rotational WCW are presented. Through the translational WCW analysis of the robot, it reveals the relationship between the dimensions of the cable-driven robot and the translational WCW, which provides a guide to design the cable-driven robot oriented to workspace requirements.

引用

页码：2403 / 2408

页数：6

共 15 条

[1]

Bostelman R., 1994, P 5 INT S ROB MAN, P403

[2]

Bruckman Tobias, 2007, ADV INT MECH 2007IEE, P1

[3] On the connections between cable-driven robots,, parallel manipulators and grasping [J].

Ebert-Uphoff, I ;

Voglewede, PA .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :4521-4526

[4] Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms [J].

Gouttefarde, Marc ;

Gosselin, Clement M. .

IEEE TRANSACTIONS ON ROBOTICS, 2006, 22 (03) :434-445

[5]

KAWAMURA S, 1993, IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3, P55, DOI 10.1109/IROS.1993.583079

[6]

Kim S., 2000, P WORLD MULT SYST CY, P422

[7]

Lafourcade P., 2002, Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, P187

[8]

Maeda K, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P895, DOI 10.1109/ROBOT.1999.772403

[9]

Murry R. M., 1994, MATH INTRO ROBOTIC M

[10]

Ortega M., 2005, IEEE INT WORKSH HAPT

← 1 2 →