On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy

Satoshi Tadokoro, Motofumi Hattori, Shinsuke Nishioka, Tetsuya Kimura, Toshi Takamori, Kiyoshi Maeda

研究成果: Article査読

3 被引用数 (Scopus)

抄録

Cable-driven parallel architecture is a new robot mechanism which is suitable especially for high-speed transfer of lightweight objects. In this paper, the optimal cable configurations are derived within a class of mechanisms redundantly driven by 8 cables from the viewpoint of working space. The working space is determined by conditions that the traveling plate must be able to receive arbitrary force and moment and that the cables must not contact. Heuristics on cable configurations were obtained through optimizing and analyzing isotropic configurations of actuator units. Classification and comparison of various symmetric configurations derived the 2 optimal configurations: Rod-type and T-type. Simulation results proved the validity of these designs and showed their advantages and disadvantages.

本文言語English
ページ(範囲)2247-2254
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
66
647
DOI
出版ステータスPublished - 2000
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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