Dynamic Analysis and Vibration Attenuation of Cable-Driven Parallel Manipulators for Large Workspace Applications
نویسندگان
چکیده
منابع مشابه
Workspace analysis of fully restrained cable-driven manipulators
For Cable-Driven Parallel Manipulators (CDPMs), employing redundant driving cables is necessary to obtain the full manipulation of the moving platform because of the unilateral driving property of the cables. Unlike rigid-link manipulators, the workspace of CDPMs is always determined and characterized by positive tension status of driving cables. In addition, it has been realized that the Tensi...
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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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A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as simple and light-weight mechanical structure, high-loading capacity, and large reachable workspace. However, the formulations and results obtained for the rigid-link mechanisms cannot be directly applied to CDPMs due to the unilateral property of cables. This ...
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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...
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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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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2013
ISSN: 1687-8140,1687-8140
DOI: 10.1155/2013/361585