Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method

被引：0

作者：

McColl, Derek ^{[1
]}

Notash, Leila ^{[1
]}

机构：

[1] Queens Univ, Dept Mech & Mat Engn, Kingston, ON, Canada

来源：

ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL | 2010年 / 524期

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents an analytical solution to workspace generation of planar wire-actuated parallel manipulators based on the planar antipodal theorem from multi-fingered grasping. Using the geometry of the wires, equations describing the borders of the workspace are formulated. The external force is modeled as a wire, and the workspace of manipulators with more than four wires is obtained by the union of the workspace contributions of each set of four wires. The workspaces of a manipulator, with and without external force, are generated with this method.

引用

页码：291 / 298

页数：8

共 50 条

[1] Workspace formulation of planar wire-actuated parallel manipulators
McColl, Derek
Notash, Leila
[J]. ROBOTICA, 2011, 29 : 607 - 617
[2] Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators
McColl, Derek
Notash, Leila
[J]. COMPUTATIONAL KINEMATICS, PROCEEDINGS, 2009, : 9 - 16
[3] WORKSPACE ENVELOPE FORMULATION OF PLANAR WIRE-ACTUATED PARALLEL MANIPULATORS
McColl, Derek
Notash, Leila
[J]. TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2009, 33 (04) : 547 - 560
[4] WORKSPACE INVESTIGATION OF WIRE-ACTUATED PARALLEL MANIPULATORS WITH UNCERTAINTIES IN WIRE CONNECTIONS
Notash, Leila
McColl, Derek
[J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, : 213 - 222
[5] Kinematics, workspace and stiffness analysis of wire-actuated parallel manipulators
Sahin, S
Notash, L
[J]. ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 1868 - 1872
[6] WORKSPACE OF WIRE-ACTUATED PARALLEL MANIPULATORS AND VARIATIONS IN DESIGN PARAMETERS
Nazari, Vahid
Notash, Leila
[J]. TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2013, 37 (02) : 215 - 229
[7] INVESTIGATION OF WIRE FAILURE EFFECT ON STIFFNESS MAPS OF PLANAR WIRE-ACTUATED PARALLEL MANIPULATORS
Moradi, Amir
Notash, Leila
[J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, : 253 - 260
[8] REDUNDANCY RESOLUTION OF WIRE-ACTUATED PARALLEL MANIPULATORS
Agahi, Maryam
Notash, Leila
[J]. TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2009, 33 (04) : 561 - 573
[9] Inverse dynamics of wire-actuated parallel manipulators with a constraining linkage
Notash, Leila
Kamalzadeh, Amin
[J]. MECHANISM AND MACHINE THEORY, 2007, 42 (09) : 1103 - 1118
[10] Failure recovery for wrench capability of wire-actuated parallel manipulators
Notash, Leila
[J]. ROBOTICA, 2012, 30 : 941 - 950

← 1 2 3 4 5 →