Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots
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چکیده
منابع مشابه
On the Boundaries of the Wrench-closure Workspace of Planar Parallel Cable-driven Mechanisms
The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...
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PLANAR CABLE-DIRECT-DRIVEN ROBOTS: DESIGN FOR WRENCH EXERTION Robert L. Williams II Department of Mechanical Engineering Ohio University Athens, Ohio Paolo Gallina Dipartimento di Innovazione Meccanica e Gestionale University of Padova Padova, Italy Journal of Intelligent and Robotic Systems Vol. 35, pp. 203-219 2002
متن کاملOn the Properties and the Determination of the Wrench-closure Workspace of Planar Parallel Cable-driven Mechanisms
This paper presents a detailed analysis of the constant-orientation wrench-closure workspace of planar three-degree-of-freedom parallel mechanisms driven by four cables. The constantorientation wrench-closure workspace is defined as the subset of the plane wherein, for a given orientation of the moving platform, any planar wrench applied on the moving platform can be balanced by the cable-drive...
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In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, a...
متن کاملDetermination of the Wrench-closure Workspace of 6-dof Parallel Cable-driven Mechanisms
The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2016
ISSN: 1687-8140,1687-8140
DOI: 10.1177/1687814016638217