Motion Analysis of an Underconstrained Cable Suspended Mobile Robot

摘要：

This paper presents a novel design of a mobile underconstrained cable suspended robot. The paper deals with the kinematics, statics, motion planning and the design of an underconstrained cable suspended robot. The robot consists of four cable mechanisms and a central body. Each cable mechanism includes a thin cable with a simple gripper at the end, and a dispensing and rolling mechanism. The robot dispenses the cables towards possible grasping points in the surroundings, and then pulls the cables simultaneously in a coordinated manner. Depending on the geometry of the grasping points and the coordinated pulling, the robot can perform stable motion, over curved surfaces or around and over obstacles. We present simulations as well as experimental results performed on a prototype model.

作者: Alon Capua Amir Shapiro Shraga Shoval

作者单位: Department of Mechanical Engineering,Ben Gurion University of the Negev,Israel Department of Industrial Engineering and Management,Ariel University Center,Israel

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: 788-793

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）