Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots
نویسندگان
چکیده
In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obtain their isotropic postures. These are a 6-6 cable-suspended parallel robot and a novel restricted three-degree-offreedom cable-driven parallel robot. Eventually, the results of isotropic conditions of both cable robots are compared to show their applications. DOI: 10.4018/978-1-4666-3634-7.ch018
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ورودعنوان ژورنال:
- IJIMR
دوره 1 شماره
صفحات -
تاریخ انتشار 2011