A performance analysis of a 4 cable-driven parallel manipulator

被引：0
|
作者：
Ottaviano, Erika [1 ]
Ceccarelli, Marco [1 ]
Pelagalli, Paolo [1 ]
机构：
[1] Univ Cassino, LARM, Cassino, FR, Italy
来源：
2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2006年
关键词：
parallel manipulators; cable-driven systems; experimental robotics;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper a performance analysis is presented for a low-cost parallel manipulator with 4 driven cables. Kinematics, Statics, and a method for monitoring and verifying positive cable tensions are presented. A prototype has been built and tests have carried out to verify the feasibility of the system design and its operation. Experimental tests have been carried out for monitoring the cables' tension for a spatial application of the manipulator.
引用
收藏
页码：169 / +
页数：2
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