Design, Analysis and Real-Time Forward Kinematics of a Cable Based Parallel Manipulator

被引：0

作者：

Dumlu, Ahmet ^{[1
]}

Erenturk, Kosal ^{[1
]}

机构：

[1] Ataturk Univ, Dept Elect & Elect Engn, Fac Engn, Erzurum, Turkey

来源：

ICECCO'12: 9TH INTERNATIONAL CONFERENCE ON ELECTRONICS, COMPUTER AND COMPUTATION | 2012年

关键词：

Parallel Manipulator; Cable-Based Parallel; Manipulator; Forward Kinematics; Tendon-Driven Robot;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this study, the general structure of cable based parallel manipulators and their classifications are presented. Then the general architecture of our 4-cable based parallel manipulator is explained in detail. Next, kinematics and dynamics of designed manipulator have been analysed for planar tasks. Finally, the forward kinematics problem of 4-cable based parallel manipulator for planar operation is modelled and solved through Newton-Raphson iterative algorithm without extra sensors.

引用

页码：86 / 90

页数：5

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