Efficient Computation of the Workspace Boundary, Its Properties and Derivatives for Cable-Driven Parallel Robots

被引：14

作者：

Pott, Andreas ^{[1
]}

机构：

[1] Univ Stuttgart, Inst Control Engn & Mfg Units, Stuttgart, Germany

来源：

COMPUTATIONAL KINEMATICS | 2018年 / 50卷

关键词：

Cable-driven parallel robots; Workspace boundary; Differential; Parameter design;

D O I：

10.1007/978-3-319-60867-9_22

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The workspace is an important property in the design of every cable-driven parallel robot. As the workspace is a complicated geometric object, it is difficult to describe changes in shape and size of the workspace when varying the design parameters of the robot. In this paper, we present an efficient method called differential workspace hull to describe and compute the workspace properties. The method is based on a triangulation of the surface of the robot's workspace. Furthermore, we establish an algorithm that allows to compute the influence of small changes in the design parameters on the workspace shape. A numerical example underlines the computational efficiency and accuracy of the presented method.

引用

页码：190 / 197

页数：8