WRENCH CAPABILITY ANALYSIS OF CABLE-DRIVEN PARALLEL MECHANISMS

被引：0
|
作者：
Zou, Yu [1 ]
Zhang, Yuru [1 ]
机构：
[1] Beihang Univ, Inst Robot, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B | 2012年
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The maximum wrench capabilities of the cable-driven parallel mechanisms are investigated in this paper Focusing on accuracy and efficiency, two methods, an optimization-based method and a hybrid method based on optimization and geometry, are presented for determining the wrench capability of the cable-driven parallel mechanisms. Both methods are applied to a 6-DOF cable-driven parallel mechanism with eight cables to compute the maximum isotropic force and maximum isotropic moment. Comparison of the two methods is made. The results show that the hybrid method proposed is more accurate and computationally efficient.
引用
收藏
页码：1273 / 1282
页数：10
相关论文
共 50 条
  • [11] Wrench generation of Cable-Driven Parallel Robots with on-board Thrusters: Feasibility Analysis & Available Wrench Set
    Innero, Gino
    Carricato, Marco
    Lau, Darwin
    2024 6TH INTERNATIONAL CONFERENCE ON RECONFIGURABLE MECHANISMS AND ROBOTS, REMAR 2024, 2024, : 57 - 64
  • [12] Wrench Feasible Workspace Analysis of Cable-Driven Parallel Manipulators Using LMI Approach
    Loloei, Azadeh Zarif
    Aref, Mohamad M.
    Taghirad, Hamid D.
    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2009, : 1034 - 1039
  • [13] Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots
    Rasheed, Tahir
    Long, Philip
    Marquez-Gamez, David
    Caro, Stephane
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 962 - 967
  • [14] Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots
    Rasheed, Tahir
    Long, Philip
    Caro, Stephane
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2020, 12 (03):
  • [15] Classifying the Boundaries of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms by Visual Inspection
    Azizian, K.
    Cardou, P.
    Moore, B.
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2012, 4 (02):
  • [16] Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots
    XinJun Sheng
    Lei Tang
    XinJia Huang
    LiMin Zhu
    XiangYang Zhu
    GuoYing Gu
    Science China Technological Sciences, 2020, 63 : 2063 - 2072
  • [17] Compound Cable-Driven Parallel Robot for a Larger Wrench-Feasible Workspace
    Chevallereau, Christine
    Wenger, Philippe
    Caro, Stephane
    ADVANCES IN ROBOT KINEMATICS 2024, ARK 2024, 2024, 31 : 130 - 139
  • [18] Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots
    SHENG XinJun
    TANG Lei
    HUANG XinJia
    ZHU LiMin
    ZHU XiangYang
    GU GuoYing
    Science China(Technological Sciences), 2020, (10) : 2063 - 2072
  • [19] Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots
    SHENG XinJun
    TANG Lei
    HUANG XinJia
    ZHU LiMin
    ZHU XiangYang
    GU GuoYing
    Science China(Technological Sciences), 2020, 63 (10) : 2063 - 2072
  • [20] Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots
    Sheng, XinJun
    Tang, Lei
    Huang, XinJia
    Zhu, LiMin
    Zhu, XiangYang
    Gu, GuoYing
    SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2020, 63 (10) : 2063 - 2072
12345