Kinematic Behaviors of a Wire-driven Planar Robot
The distribution law of the kinematic behaviors of the wire-driven planar robot （WDPR） in the workspace is mainly studied. The configuration and working principle of the WDPR are introduced. The kinematics and dynamics model of the WDPR are established and the workspace and evaluation index of the m...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.004 |
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| Summary: | The distribution law of the kinematic behaviors of the wire-driven planar robot （WDPR） in the workspace is mainly studied. The configuration and working principle of the WDPR are introduced. The kinematics and dynamics model of the WDPR are established and the workspace and evaluation index of the maneuverability of the WDPR are further discussed. The measurement index of the smartness of the WDPR is defined using the condition number of the structure matrix. The distribution law of the kinematic behaviors indexes in the effective workspace is given through calculation examples. The research results show that， there are no singular or non-positioned positions in the workspace， the robot has good motion and force transmission performance， and the motion and force transmission performance in the central area of the workspace is better than those in the boundary area of the workspace. The research results can provide certain reference for further research mission planning. |
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| ISSN: | 1004-2539 |