WRENCH CAPABILITY ANALYSIS OF CABLE-DRIVEN PARALLEL MECHANISMS

被引：0
|
作者：
Zou, Yu [1 ]
Zhang, Yuru [1 ]
机构：
[1] Beihang Univ, Inst Robot, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B | 2012年
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The maximum wrench capabilities of the cable-driven parallel mechanisms are investigated in this paper Focusing on accuracy and efficiency, two methods, an optimization-based method and a hybrid method based on optimization and geometry, are presented for determining the wrench capability of the cable-driven parallel mechanisms. Both methods are applied to a 6-DOF cable-driven parallel mechanism with eight cables to compute the maximum isotropic force and maximum isotropic moment. Comparison of the two methods is made. The results show that the hybrid method proposed is more accurate and computationally efficient.
引用
收藏
页码：1273 / 1282
页数：10
相关论文
共 50 条
  • [21] Force-closure workspace analysis of cable-driven parallel mechanisms
    Pham, CB
    Yeo, SH
    Yang, GL
    Kurbanhusen, MS
    Chen, IM
    MECHANISM AND MACHINE THEORY, 2006, 41 (01) : 53 - 69
  • [22] Dynamic and Wrench-Feasible Workspace Analysis of a Cable-Driven Parallel Robot Considering a Nonlinear Cable Tension Model
    Kieu, Vu N. D.
    Huang, Shyh-Chour
    APPLIED SCIENCES-BASEL, 2022, 12 (01):
  • [23] Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration
    Kumar, Rajesh
    Mukherjee, Sudipto
    ROBOTICA, 2021, 39 (12) : 2153 - 2171
  • [24] Cable-driven parallel mechanisms: Application to a locomotion interface
    Perreault, Simon
    Gosselin, Clement M.
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2007, VOL 8, PTS A AND B, 2008, : 791 - 799
  • [25] The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms
    Azizian, K.
    Cardou, P.
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2013, 5 (04):
  • [26] Cable-driven parallel mechanisms: Application to a locomotion interface
    Perreault, Simon
    Gosselin, Clement M.
    JOURNAL OF MECHANICAL DESIGN, 2008, 130 (10) : 1023011 - 1023018
  • [27] Cable-driven parallel mechanisms: state of the art and perspectives
    Gosselin, Clement
    MECHANICAL ENGINEERING REVIEWS, 2014, 1 (01):
  • [28] Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots
    Gouttefarde, Marc
    Daney, David
    Merlet, Jean-Pierre
    IEEE TRANSACTIONS ON ROBOTICS, 2011, 27 (01) : 1 - 13
  • [29] On the determination of cable characteristics for large dimension cable-driven parallel mechanisms
    Riehl, Nicolas
    Gouttefarde, Marc
    Baradat, Cedric
    Pierrot, Francois
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 4709 - 4714
  • [30] Cable interference control in physical interaction for cable-driven parallel mechanisms
    Meziane, Ramy
    Cardou, Philippe
    Otis, Martin J-D
    MECHANISM AND MACHINE THEORY, 2019, 132 : 30 - 47
12345