Kinematic modeling of cable-driven parallel robots with unlimited rotational axis

围绕轴的无限旋转在工业用途的机械手中广泛存在。机械手，如关节式机器人，Delta或SCARA机器人，提供围绕至少一个轴的无限旋转，以任意改变所处理的工件的方向。另一方面，并联机器人能够进行此类操作的情况相当少见，而对于电缆驱动的并联机器人来说则是独一无二的，其这种能力尚未得到探索。由于其固有的属性，这些系统提供了关键的好处比其他运动机械手，其中与一个无限的旋转围绕一个任意轴的组合将召唤新的应用电缆驱动的并联机器人在production.the第一个记录的一个特定的设计电缆驱动的并联机器人与一个无限的旋转围绕一个轴已被给予的准备工作，这个建议所做的提议。然而，这种方法的推广到更广泛的应用选择尚未完成的方法描述和指定这样的机器人是缺乏existence.Endless旋转围绕一个任意的轴可以机械地描述通过被动运动链导致在已经冗余的电缆驱动的并联机器人的内部自由度的数量增加。这种物理扩展模型确实需要一个显着扩展的运动规范，以捕捉所有运动链和电缆驱动列车的相互作用。这种规范的方法还没有探索，但必不可少的调查电缆驱动的并联机器人的广义设计与无限旋转的任意轴。在提议者的准备工作中，描述是基于结构方程的特定应用扩展，该结构方程为所给示例提供了解决方案。然而，这是不可能的，推广这种方法，使它也包括其他机械手段产生的rotations.Within本项目的范围内，扩展的建模和综合方法的电缆驱动的并联机器人，通过它的无限旋转绕任意轴可以始终集成到现有的方法。这项工作的目的是基于运动学和几何特性的扩展描述，找到此类绳索驱动并联机器人类型的通用设计。除了理论描述之外，实验验证还将表明，存在绕任意轴无限旋转的可实现设计。

Endless rotation about an axis is widespread among manipulators for industrial use. Manipulators, such as articulated robots, Delta, or SCARA robots, provide endless rotation about at least one axis to arbitrarily change the orientation of the workpiece handled. It is quite uncommon, on the other hand, for parallel manipulators to be capable of such operations, yet alone for cable-driven parallel robots for which this capability is yet to be explored. Due to their intrinsic properties, these systems offer key benefits over other kinematic manipulators, combination of which with an endless rotation about an arbitrary axis will beckon new applications for cable-driven parallel robots in production.The first record of a particular design of a cable-driven parallel robot with an endless rotation about one axis has been given in preparatory works to this proposal done by the proposer. However, generalization of this approach to a broader selection of applications is yet to be completed as methods for describing and specifying such robots are lacking existence.Endless rotation about an arbitrary axis may mechanically be described by means of a passive kinematic chain resulting in an increase in the number of internal degrees of freedom in the already redundant cable-driven parallel robots. This physically extended model indeed requires a significantly extended kinematic specification to capture the interaction of all kinematic chains and the cable drive trains. This method of specification has not been explored but is essential to the investigation of generalized designs of cable-driven parallel robots with an endless rotation about an arbitrary axis. In the proposer's preparatory work, the description is based on an application-specific extension of the structural equation, which provides a solution for the example given. However, it is not possible to generalize this approach such that it also covers other mechanical means of generating rotations.Within the scope of this project, extension of modeling and synthesizing methods of cable-driven parallel robots shall be explored, by means of which endless rotation about an arbitrary axis can be consistently integrated into such existing methods. The aim of this work is to find generalized designs for such cable-driven parallel robots types based on the extended description of the kinematic and geometric properties. Besides the theoretical description, experimental validation will show that there are implementable designs with an endless rotation about an arbitrary axis.