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  Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis

Pott, A., & Miermeister, P. (2017). Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis. In J. Lenarčič, & J.-P. Merlet (Eds.), Advances in Robot Kinematics 2016 (pp. 341-350). Cham, Switzerland: Springer. doi:10.1007/978-3-319-56802-7_36.

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Item Permalink: https://hdl.handle.net/21.11116/0000-0007-86CF-9 Version Permalink: https://hdl.handle.net/21.11116/0000-0007-86D0-6
Genre: Conference Paper

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http://link-springer-com-443.webvpn.fjmu.edu.cn/chapter/10.1007%2F978-3-319-56802-7_36 (Publisher version)
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 Creators:
Pott, A, Author
Miermeister, P1, Author           
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1External Organizations, ou_persistent22              

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 Abstract: A drawback of many cable-driven parallel robots is a relatively small orientation workspace. In this paper, two design variants for cable-driven parallel robots with nine and twelve cables are proposed that allow for large rotations. It is shown that the platform can perform a 360∘ rotation while maintaining positive tension in all cables and without collisions amongst the cables. Furthermore, workspace studies of the total orientation workspace are provided. Surprisingly, this family of cable robot is capable to perform an unlimited rotation within a translational workspace of reasonable size. Finally, the efficiency and computation time of force distribution algorithms is compared for cable robots having twelve cables.

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 Dates: 2017-07
 Publication Status: Published online
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 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-319-56802-7_36
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Title: Advances in Robot Kinematics (ARK 2016)
Place of Event: Grasse, France
Start-/End Date: 2016-06-27 - 2016-06-30

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Title: Advances in Robot Kinematics 2016
Source Genre: Proceedings
 Creator(s):
Lenarčič, J, Editor
Merlet, J-P, Editor
Affiliations:
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Publ. Info: Cham, Switzerland : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 341 - 350 Identifier: ISBN: 978-3-319-56801-0

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Title: Springer Proceedings in Advanced Robotics
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Pages: - Volume / Issue: 4 Sequence Number: - Start / End Page: - Identifier: -