Dynamic Trajectory Planning for a Spatial Unconstrained Cable suspended Parallel Mechanism

被引：0
|
作者：
Tang, Lewei [1 ]
Wu, Li [2 ,3 ]
Xiao, Yukang [4 ]
机构：
[1] Hunan Univ, Coll Mech & Vehicle Engn, Changsha 410082, Hunan, Peoples R China
[2] GAC FIAT CHRYSLER Automobiles Co Ltd, Dept Project Engn, Changsha 410100, Peoples R China
[3] GAC FIAT CHRYSLER Automobiles Co Ltd, Technol Ctr, Changsha 410100, Peoples R China
[4] Wuhan Inst Technol, Sch Chem Engn & Pharm, Wuhan 430205, Hubei, 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
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 presents a dynamic trajectory planning method with specific rotational angles during movement for a spatial unconstrained cable-suspended parallel mechanism. This mechanism is configured in space with three-dofs (two translational dofs and one rotational dot) by a way of geometry constraint. Compared to the recent the literature, this trajectory planning method facilitates the end effector with various rotational angles for some practical applications. Dynamical modelling is introduced in this paper and a case study is provided to validate the planning method.
引用
收藏
页码：1162 / 1165
页数：4
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