Title :
Design and workspace optimization of a 6/6 cable-suspended parallel robot
Author :
Xu, Lin ; Cao, Yi ; Chen, Jin ; Jiang, Shuai
Author_Institution :
Huiguang Robot. Res. Center, Jiangnan Univ., Wuxi, China
Abstract :
This paper mainly addressed the design and workspace optimization of a 6/6 cable-suspended parallel robot. Based on workspace is an essential index that it evaluates the working capacity of parallel mechanism, the size of the workspace determines the moving space of parallel mechanism. This thesis makes use of MATLAB software to program applications, analyze how the mechanized geometric configurations of the base (moving) platform, the ratio of the circumcircle radius and variation of the three posture angles of the moving platform to the base one influence on the two performance indices to work out the optimal workspace.
Keywords :
cables (mechanical); design engineering; manipulator kinematics; optimisation; suspensions (mechanical components); MATLAB software; base moving platform; cable-suspended parallel robot; circumcircle radius; design optimization; mechanized geometric configurations; parallel mechanism; posture angles; working capacity; workspace optimization; Load modeling; Kinematics 6-6 cable-suspended parallel robot; Optimal workspace; Performance index;
Conference_Titel :
Computer Application and System Modeling (ICCASM), 2010 International Conference on
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4244-7235-2
Electronic_ISBN :
978-1-4244-7237-6
DOI :
10.1109/ICCASM.2010.5622640
