Workspace analysis of a novel 6-dof cable-driven parallel robot

摘要：

This paper presents a novel 6-dof cable-driven parallel robot driven by eight cables and raises the method of designing the 6-dof configuration of the robot. As the basis, the static equilibrium model of the robot is obtained. Based on the achievements of predecessors, the wrench closure workspace (WCW) of the robot is analyzed, and the steps of analyze the translational and rotational WCW are presented. Through the translational WCW analysis of the robot, it reveals the relationship between the dimensions of the cable-driven robot and the translational WCW, which provides a guide to design the cable-driven robot oriented to workspace requirements.

作者: Yaojun Zhang Yuru Zhang Xiaowei Dai Yi Yang

作者单位: State Key Laboratory of Virtual Reality Technology and Systems,Robotic Institute,BeiHang University,Beijing,China,100191

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2403-2408

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）