Design and Workspace Optimization of a 6/6 Cable-Suspended Parallel Robot
This paper mainly addressed the design and workspace optimization of a 6/6 cable-suspended parallel robot. Based on workspace is an essential index that it evaluates the working capacity of parallel mechanism, the size of the workspace determines the moving space of parallel mechanism. This thesis makes use of MATLAB software to program applications, analyze how the mechanized geometric configurations of the base (moving) platform, the ratio of the circumcircle radius and variation of the three posture angles of the moving platform to the base one influence on the two performance indices to work out the optimal workspace.
kinematics 6-6 cable-suspended parallel robot optimal workspace performance index
Lin Xu Yi Cao Jin Chen Shuai Jiang
Huiguang Robotics Research Center, School of Mechanical Engineering Jiangnan University 1800 Lihu Avenue, Wuxi, Jiangsu Province, 214122, P.R.China
国际会议
太原
英文
610-614
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）