Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis
Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis
复制标题
无限旋转轴电缆驱动并联机器人的工作空间和干涉分析
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Philipp Miermeister
中科院分区：
文献类型：
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作者：
A. Pott;Philipp Miermeister
许多绳索驱动并联机器人的一个缺点是定位工作空间相对较小。本文提出了九索和十二索绳索驱动并联机器人的两种设计变型，允许大转动。结果表明，该平台可实现360(^{CIRC})的转动，同时保持所有缆索的正张力，且缆索之间不发生碰撞。此外，还提供了全定向工作空间的工作空间研究。令人惊讶的是，这一系列缆索机器人能够在合理大小的平移工作空间内执行无限旋转。最后，比较了十二索缆索机器人作用力分配算法的效率和计算时间。
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(^{circ }) 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.