MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT
A spatial 3T cable-driven parallel robot with four cables has been designed and manufactured. The kinematic models of the 3DOF cable-driven parallel robot have been established to discuss the deformation of cables in the large scale system. To check for the system’s zero position and analysis the er...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2015-01-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2015.04.035 |
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| _version_ | 1841534707751190528 |
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| author | CUI Hai SHEN BoKan |
| author_facet | CUI Hai SHEN BoKan |
| author_sort | CUI Hai |
| collection | DOAJ |
| description | A spatial 3T cable-driven parallel robot with four cables has been designed and manufactured. The kinematic models of the 3DOF cable-driven parallel robot have been established to discuss the deformation of cables in the large scale system. To check for the system’s zero position and analysis the error,the forward solution of kinematics has been carried out by Newton-Raphson iterative method. After analyzing the distribution of the dexterity,target tracks have been planned in the work space. Based on the inverse kinematics,the ideal curves of cables’ length have been reached. Based on catenary theory,the change of cables’ length have been calculated which is caused by the transformation,the result provide the theory basis for subsequent control. |
| format | Article |
| id | doaj-art-b3ffbeb33b6446798d3fbadc74c4ffe7 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-b3ffbeb33b6446798d3fbadc74c4ffe72025-01-15T02:38:06ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692015-01-013768969430592122MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOTCUI HaiSHEN BoKanA spatial 3T cable-driven parallel robot with four cables has been designed and manufactured. The kinematic models of the 3DOF cable-driven parallel robot have been established to discuss the deformation of cables in the large scale system. To check for the system’s zero position and analysis the error,the forward solution of kinematics has been carried out by Newton-Raphson iterative method. After analyzing the distribution of the dexterity,target tracks have been planned in the work space. Based on the inverse kinematics,the ideal curves of cables’ length have been reached. Based on catenary theory,the change of cables’ length have been calculated which is caused by the transformation,the result provide the theory basis for subsequent control.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2015.04.035Spatial 3TCable-drivenCable transformationDexterityTrajectory planning |
| spellingShingle | CUI Hai SHEN BoKan MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT Jixie qiangdu Spatial 3T Cable-driven Cable transformation Dexterity Trajectory planning |
| title | MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT |
| title_full | MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT |
| title_fullStr | MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT |
| title_full_unstemmed | MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT |
| title_short | MODELING ANALYSIS OF A SPATIAL 3T CABLE-DRIVEN PARALLEL ROBOT |
| title_sort | modeling analysis of a spatial 3t cable driven parallel robot |
| topic | Spatial 3T Cable-driven Cable transformation Dexterity Trajectory planning |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2015.04.035 |
| work_keys_str_mv | AT cuihai modelinganalysisofaspatial3tcabledrivenparallelrobot AT shenbokan modelinganalysisofaspatial3tcabledrivenparallelrobot |