Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes
Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes
复制标题
多平台无限旋转轴缆索驱动并联机器人设计
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
A. Pott
中科院分区：
文献类型：
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作者：
Philipp Miermeister;A. Pott
电缆驱动的并联机器人由于其最小的驱动系统质量而允许高性能操作。为了处理更复杂的搬运操作，希望在平台上有一个额外的驱动串行运动学。这通常伴随着平台上电机的额外重量和能量供应问题。在本文中，我们提出了一种新的方法，通过引入耦合平台和电缆驱动的串行运动学的混合设计。特别是无限可旋转轴的概念将被突出。
Cable-driven parallel robots allow high performance operation due to their minimal actuated system mass. In order to deal with more complex handling operations it is desirable to have an additional actuated serial kinematics on the platform. This usually comes along with the problem of extra weight and energy supply for the motors on the platform. In this paper we present a new approach to the problem by introducing a hybrid design with coupled platforms and cable-driven serial kinematics. Especially the concept of an endless rotatable axis will be highlighted.