Title :
Design and analysis of completely restrained cable manipulators with 3 Degrees of Freedom
Author :
Zi, Bin ; Zhu, Zhen-cai
Author_Institution :
Sch. of Mech. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou, China
Abstract :
This paper investigates the design, workspace, and analysis of completely restrained cable manipulators (CRCM) with 3 Degrees of Freedom (DOF). The design of the drive transmission system and integrated CRCM system is developed. According to the equivalent circuit of the servo mechanism, the dynamic formulation of the electromechanical coupling system for CRCM is studied. The workspace of the CRCM is also discussed. Finally, the results are demonstrated through simulation on a 3-DOF CRCM.
Keywords :
drives; equivalent circuits; manipulators; power transmission (mechanical); servomechanisms; 3-DOF CRCM; completely restrained cable manipulator; drive transmission system; electromechanical coupling system; equivalent circuit; integrated CRCM system; servo mechanism; Dynamics; Manipulators; Mathematical model; Mechanical cables; Pulleys; Servomotors; Completely restrained cable manipulators; analysis; servomechanism; simulation;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5553776
