Design and wrench-feasible workspace analysis of a cable-driven hybrid joint
نویسندگان
چکیده
منابع مشابه
Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling
Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...
متن کاملmodeling and wrench feasible workspace analysis of a cable suspended robot for heavy loads handling
modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...
متن کاملModeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling
Cable suspended robots support a moving platform (MP) in space by several spatially arranged cables with computer-controlled winches. The winches are mounted on base platform (BP). Compared to conventional robots, it is possible to control not only the translational motion of the payload but also its orientation in order to perform, for example, loads handling. By this, cable suspended robots c...
متن کاملNavigating the Wrench-Feasible C-Space of Cable-Driven Hexapods
Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack –to keep the control of the platform– nor excessively tight –to prevent cable breakage– even in the presence of bounded perturbations of the wrench. This paper proposes a path...
متن کاملWrench-Closure Workspace Generation for Cable Driven Parallel Manipulators using a Hybrid Analytical-Numerical Approach
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...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881419899758