Advances in Cable-Driven Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
Optimal Design of Dexterous Cable Driven Parallel Manipulators
A R T I C L E I N F O A B S T R A C T Article history: Received: July 10, 2009 Received in revised form: November 11, 2009 Accepted: December 2, 2009 Optimal design of parallel manipulators is known as a challenging problem especially for cable driven robots. In this paper, optimal design of cable driven redundant parallel manipulators (CDRPM) is studied in detail. Visual Inspection method is p...
متن کاملtrajectory path planning of cable driven parallel manipulators, considering masses and flexibility of the cables
cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...
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Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...
متن کاملFour-cable-driven parallel robot
This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...
متن کاملInterval Analysis of Controllable Workspace for Cable Robots
Workspace analysis is one of the most important issues in the robotic parallel manipulator design. However, the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2014
ISSN: 1687-8140,1687-8140
DOI: 10.1155/2014/340361