Design and Development of a Reconfigurable Cable Parallel Robot
نویسندگان
چکیده
This paper presents a reconfigurable cable parallel robot, which spatial topology can be reconfigured through managing the branch numbers and the hoisting points of the end-effector. An experimental prototype of the reconfigurable cable parallel robot is designed and developed. A typical configuration of the reconfigurable cable parallel robot is analyzed as a case study. The finite element analysis of the chosen configuration is conducted to check the deformation, stress and modes. The virtual prototype is established considering the mass and elasticity of the cable. The preliminary inverse kinematics is derived. Numerical simulation are carried out to verify the cooperation of modular branches and feasibility of the reconfigurable cable parallel robot.
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