International Journal of Engineering Innovation and Management
نویسندگان
چکیده
In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed, and the prototype is presented with control system. With its mechanism model, three typical kinematic analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. The open-loop and close-loop control scheme are used separately to realize the motion control of the robot. Especially, the image processing based machine vision is adopted firstly in the close-loop control of wire-driven robot. At last, the error analysis of the robot is given in detail. Key-Words: Wire-driven, Parallel robot, Kinematics, Statics, Motion control, Machine vision
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