On the Design of Fully Constrained Parallel Cable-Driven Robots

被引：21
|
作者：
Gouttefarde, M. [1 ]
Krut, S. [1 ]
Company, O. [1 ]
Pierrot, F. [1 ]
Ramdani, N. [1 ]
机构：
[1] Univ Montpellier 2, LIRMM, F-34095 Montpellier 5, France
来源：
ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN | 2008年
关键词：
cable-driven robot; parallel robots; design; workspace;
D O I：
10.1007/978-1-4020-8600-7_8
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This work deals with the design of parallel cable-driven robots having more cables than degrees of freedom (DOF). Compared to parallel robots with rigid links, this issue has a distinctive property: the requirement of keeping the cables taut. In this paper, it is shown how numerical tools. recently introduced elsewhere, can be used to solve the important practical problem of finding geometries of robots such that a given prescribed workspace is fully included in the wrench-feasible workspace. Then. in order to improve the solving procedure of this problem, it is shown that another workspace is of interest: the wrench-closure workspace. Some of its relationships with the wrench-feasible workspace are highlighted.
引用
收藏
页码：71 / 78
页数：8
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