Performance Analysis of Methods for Determining Force and Moment Workspaces of Cable- Driven Parallel Mechanisms
This paper presents a comparative study of methods for determining the force and moment workspaces of cable-driven parallel mechanisms.From a design perspective,it is important to find the region referred to as the force and moment workspace within which a prescribed magnitude of force or moment can be applied or sustained in all directions by a particular cable-driven parallel mechanism,which requires exceedingly time-consuming calculations.To obtain this region fast and accurately,different kinds of methods have been proposed in previous work.In this paper,the performance of three methods,an analytical method,an optimization-based method and a geometry-based method,for determining the force and moment workspaces of cable-driven parallel mechanisms are investigated in terms of efficiency and accuracy.As an example,the three methods are applied to a 6-DOF cable-driven parallel mechanism with eight cables.A comparison of these methods is made and the results show that the geometry-based method is the most accurate and computationally efficient one and can be used as a powerful tool for cable-driven mechanism design.
Workspace Cable-Driven Parallel Mechanism
Yu Zou
Robotics Institute,Beihang University,Beijing 100191,China
国际会议
天津
英文
1-7
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）