Paper Info
Title
Design and kinematic analysis of a modular re-configurable cable-driven parallel robot
Abstract
Cable-driven parallel robots (CDPRs) have attracted extensive attentions in the past few years due to their advantages in both the large workspace and the large payload capacity. Furthermore, CDPRs have potential in reconfiguration. In this research, a re-configurable CDPR is presented, and its modular design is detailed. Then, kinematics of the proposed CDPR is analyzed including the inverse and direct kinematics. Based on the kinematic model, simulation validations are made by using two kinds of trajectories, i.e. a line and a circle. Finally, prototypes are built and preliminary experiments are made, including the alphabetic writing and the Chinese character writing tests. Results show that the performance of the robot is good, which further validates the kinematic modeling and modular design of the proposed reconfigurable CDPR. © 2018 IEEE.
Year
DOI
Venue
2019
10.1109/RCAR.2018.8621794
2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Field
DocType
Citations 
Inverse,Parallel manipulator,Kinematics,Computer science,Workspace,Control engineering,Modular design,Robot,Control reconfiguration,Payload
Conference
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Zhou Lili100.34
Xu Wenfu211432.88
Haoyao Chen318923.79
Huang Hailin400.68
Han Yuan5115.56