Workspace analysis and optimal design of cable-driven planar parallel manipulators

IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI:10.1109/RAMECH.2004.1438920

C. Pham, S. Yeo, Guilin Yang

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引用次数: 37

Abstract

A cable-driven parallel manipulator (CDPM) possesses a number of promising advantages over the conventional rigid-link manipulators, such as simple and lightweight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid link manipulators cannot be directly applied to CDPM because of the unilateral property of cables. This paper focuses on the workspace analysis and optimal design of a specific type of CDPM, i.e. a completely restrained symmetric cable-driven planar parallel manipulator (CDPPM). The tension plays a key role in building up the workspace. In the analysis, performance criteria such as tension bound and stiffness condition are considered to construct the feasible workspace. Moreover, simplex search method is employed to obtain the optimal feasible workspace with respect to the locations of the connecting points and suspending points. Computation results have shown that the optimal workspace can be always obtained at configurations where either the base or the platform is degenerated to a line.

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缆索驱动平面并联机器人的工作空间分析与优化设计

与传统的刚性连杆机械臂相比，索驱动并联机械臂具有结构简单、重量轻、承载能力强、工作空间大等优点。然而，由于索的单侧特性，刚性连杆机械臂的公式和结果不能直接应用于CDPM。本文重点研究了一种完全约束对称索驱动平面并联机械臂的工作空间分析与优化设计。这种紧张感在营造工作环境中起着关键作用。在分析中，考虑了张力界和刚度条件等性能指标来构建可行的工作空间。采用单纯形搜索法，根据连接点和悬浮点的位置得到最优可行工作空间。计算结果表明，当基座或平台退化为直线时，总能得到最优的工作空间。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IEEE Conference on Robotics, Automation and Mechatronics, 2004.

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