Four-cable-driven parallel robot
نویسندگان
چکیده
This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental tests using an implemented prototype have shown the feasibility of the system design and its operation.
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