Title :
Workspace analysis of a novel 6-dof cable-driven parallel robot
Author :
Zhang, Yaojun ; Zhang, Yuru ; Dai, Xiaowei ; Yang, Yi
Author_Institution :
State Key Lab. of Virtual Reality Technol. & Syst., BeiHang Univ., Beijing, China
Abstract :
This paper presents a novel 6-dof cable-driven parallel robot driven by eight cables and raises the method of designing the 6-dof configuration of the robot. As the basis, the static equilibrium model of the robot is obtained. Based on the achievements of predecessors, the wrench closure workspace (WCW) of the robot is analyzed, and the steps of analyze the translational and rotational WCW are presented. Through the translational WCW analysis of the robot, it reveals the relationship between the dimensions of the cable-driven robot and the translational WCW, which provides a guide to design the cable-driven robot oriented to workspace requirements.
Keywords :
mobile robots; 6-dof cable driven parallel robot; rotational wrench closure workspace; static equilibrium model; translational wrench closure workspace; workspace analysis; Biomimetics; Cables; Cranes; Design methodology; Force feedback; Marine vehicles; Parallel robots; Payloads; Research and development; Robotic assembly;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420857
