On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots

被引：0

作者：

Dinh Quan Nguyen ^{[1
]}

Gouttefarde, Marc ^{[1
]}

Company, Olivier ^{[1
]}

Pierrot, Francois ^{[1
]}

机构：

[1] UM2, CNRS, LIRMM, 161 Rue Ada, F-34392 Montpellier 5, France

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年

关键词：

STATIC ANALYSIS;

D O I：

暂无

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 paper, a new type of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) is introduced as a means to substitute for conventional methods of handing large and heavy parts across wide workspaces. The reconfigurability of the proposed CDPR offers better performances in term of workspace, flexibility and power consumption. A systematic procedure to solve a complex nonlinear optimization problem to find optimal reconfiguration for the robot is presented. Critical issues regarding various constraints and performance criteria are addressed. The robot can operate in offline reconfiguration or online reconfiguration modes which offer wide range of solutions to the end-users.

引用

页码：5728 / 5735

页数：8