Kinematic analysis of a newly designed cable-driven manipulator

被引:14
作者
Xu, Wei [1 ]
Wang, Yaoyao [1 ,2 ]
Jiang, Surong [1 ]
Yao, Jiafeng [1 ]
Chen, Bai [1 ]
机构
[1] Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing, Jiangsu, Peoples R China
[2] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou, Zhejiang, Peoples R China
基金
中国国家自然科学基金;
关键词
cable-driven manipulator; motion coupling; orientation invariance; ROBOTIC MECHANISMS; SLAVE;
D O I
10.1139/tcsme-2017-0019
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
In this paper, the cable routing configurations for a cable-driven manipulator are introduced, and the impact of motion coupling caused by cable transmission routing of a 2n type cable-driven manipulator is analyzed in detail. Based on different configurations of cable routings, the relationship between variation of joint angles and the geometrical sizes of guide pulleys is established, represented by a matrix for coupled motion. Moreover, based on the effects of the motion coupling of a cable-driven manipulator, we propose the condition for the invariance of orientation, which can be achieved constraining of the geometrical sizes of guide pulleys and driven wheels. In addition, to identify the correctness of analysis for coupled motion, a 3-DOFs planer cable-driven manipulator prototyping model is constructed, and the kinematics and trajectory planning has been solved. Finally, the relationship among actuator space, joint space, and Cartesian space, including the mapping of the motion coupling, is experimentally validated. The property of invariance of orientation is also validated by an experiment.
引用
收藏
页码:125 / 135
页数:11
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