A New Class of Four-DOF Cable-Suspended Parallel Robots Based on Parallelogram Arrangements of Cables

被引：0
|
作者：
Ren, Ping [1 ]
Yu, Yang [1 ]
机构：
[1] Ocean Univ China, Dept Automat Sci & Engn, Qingdao 266100, Peoples R China
来源：
2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年
基金：
中国国家自然科学基金;
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 paper proposes for the first time the original architecture of a cable-suspended parallel robot (CSPR) with tour degrees of freedom (dot's). This new class of 4-dof CSPR is inspired by the existing types of rigid parallel robots. It utilizes tour pairs of parallelogram cables to generate a motion pattern with three translations and one rotation. Each pair of parallelogram cables is actuated by one independent motor for the purpose of maintaining equal length. The correctness of the motion pattern is validated through a mobility analysis based on screw theory. Preliminary results of the workspace analysis for this type of CSPR are presented as well.
引用
收藏
页码：785 / 788
页数：4
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