Title :
A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulator
Author :
Ottaviano, Erika ; Ceccarelli, Marco ; Paone, Alessio ; Carbone, Giuseppe
Author_Institution :
LARM: Laboratory of Robotics and Mechatronics DiMSAT, University of Cassino Via Di Biasio 43, 03043, Cassino (FR), Italy, ottaviano@unicas.it
Abstract :
In this paper the design and kinematic performances are presented for a low-cost parallel manipulator with 4 driven cables. It has been conceived for an easy programming of its operation by properly formulating the Kinematics of the parallel architecture that uses cables. A prototype has been built and tests have experienced the feasibility of the system design and its operation.
Keywords :
Cable-Driven Systems; Kinematics; Parallel manipulators; Cables; DC motors; Kinematics; Laboratories; Manipulators; Mechatronics; Parallel robots; Prototypes; Robot programming; System testing; Cable-Driven Systems; Kinematics; Parallel manipulators;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570734
