Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator

被引：0
|
作者：
Guan Liwen [1 ]
Mu Chenglong [2 ]
Hu Yujian
机构：
[1] Tsinghua Univ, Dept Mech Engn, Mfg Engn Inst, Beijing 100084, Peoples R China
[2] Univ Elect Sci & Technol, Sch Mech Engn, Chengdu, Peoples R China
来源：
AUTOMATIC CONTROL AND MECHATRONIC ENGINEERING II | 2013年 / 415卷
关键词：
3T cable-driven parallel manipulator; dynamic modeling; pseudo-drag analysis; workplace;
D O I：
10.4028/www.scientific.net/AMM.415.519
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper analyzes the dynamic modeling and workplace of the 3T cable-driven parallel manipulator. The mechanism utilizes four cables to driven. Firstly, the kinematics equations and the inverse dynamics model were set up for the analysis. And then, pseudo-drag is a serious problem in cable-driven parallel manipulator, this paper give a method to find the workplace under the condition of pseudo-drag. Finally, through numerical simulation, the workplace of the mechanism satisfying the demand is presented by comprehensive analysis.
引用
收藏
页码：519 / +
页数：2
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