Analysis of Cable-actuated Parallel Robot with Variable Length and Velocity cable

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Four-cable-driven parallel robot

This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...

متن کامل

Continuous path tracing by a cable - suspended , under - actuated robot

A simple, under-actuated robotic winch, called the “Winch-Bot,” is developed for surface inspection of a large object. The Winch-Bot, placed over an object surface, has only one actuator for tracing a free geometric path in a vertical plane. The cable length is controlled in relation to the direction of the cable so that the inspection end-effecter hanging at the tip of the cable can follow the...

متن کامل

Tension Optimization for a Cable-Driven Parallel Robot with Non- Negligible Cable Mass

This paper addresses the cable tension distributions of a cable-driven parallel robot with non-negligible cable mass for large dimension mechanisms. A well-known model which describes the profile of a cable under the action of its own weight allows us to take the cable sags into account. In addition, an approach to computing the cable tensions is presented, in which there are two major steps to...

متن کامل

Parallel Articulated-cable Exercise Robot (pacer): Novel Home-based Cable-driven Parallel Platform Robot for Upper Limb Neuro-rehabilitation

This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This n...

متن کامل

Design and Development of a Reconfigurable Cable Parallel Robot

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 ana...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Procedia Engineering

سال: 2011

ISSN: 1877-7058

DOI: 10.1016/j.proeng.2011.08.514