Name
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. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBIO.2009.5420857 | ROBIO |
Keywords | Field | DocType |
static equilibrium model,6-dof cable driven parallel robot,wrench closure workspace,workspace analysis,translational wrench closure workspace,rotational wcw,6-dof configuration,mobile robots,rotational wrench closure workspace,cable-driven robot,novel 6-dof,cable-driven parallel robot,translational wcw,translational wcw analysis,parallel robot,force,solid modeling,prototypes,parallel robots,design automation | Robot control,Parallel manipulator,Robot calibration,Simulation,Workspace,Robot kinematics,Robot end effector,Control engineering,Engineering,Robot,Mobile robot | Conference |
ISBN | Citations | PageRank |
978-1-4244-4775-6 | 3 | 0.75 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yaojun Zhang | 1 | 300 | 19.42 |
| Yuru Zhang | 2 | 253 | 44.66 |
| Xiaowei Dai | 3 | 11 | 2.40 |
| Yi Yang | 4 | 8 | 2.21 |