WORKSPACE ANALYSIS OF REDUNDANT CABLE ROBOTS

被引：0
|
作者：
Ghasemi, Ali [1 ]
Eghtesad, Mohammad [1 ]
Farid, Mehrdad [1 ]
机构：
[1] Shiraz Univ, Shiraz, Iran
来源：
2008 WORLD AUTOMATION CONGRESS PROCEEDINGS, VOLS 1-3 | 2008年
关键词：
Cable robot; Workspace; Redundancy; Cable tension limit;
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 analysis of the workspace of planar and spatial redundant cable robots by using two analytical approaches. The first one is based on linear algebra; it can include the upper limits for tension in cables as an important factor in optimum design of cable robots in order to find the largest possible workspace. The second approach is based on a variant of Bland's pivot rule; by virtue of this method we leave out the use of successive determinates to compute workspace resulting in less computation time. Both approaches provide all poses (positions/orientations) reachable by the cable robot platform for all types of cable robots with any number of redundancy.
引用
收藏
页码：620 / 625
页数：6
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