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首页> 外文会议>International Conference on Cable-Driven Parallel Robots >Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot
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Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot

机译：运动冗余平面电缆驱动并联机器人电缆配置分析

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摘要

A redundant planar three-dof cable-driven parallel robot is proposed and analysis of its cable-configuration is discussed in this paper. Loop cables and constant force springs unlimitedly rotate the endlesspulley which is embedded inside the moving part. The angle of the hand is redundantly given by the sum of the angles of the moving part frame and the endless-pulley. Three-dof hand is controlled by four-dof mechanism using five-cables. This means that the proposed CDPR is a novel cable-driven parallel robot which simultaneously has the kinematic and actuation redundancies. Tactical design and control for the cableconfigurations are proposed as the robot satisfies the wrench-closure condition.
机译：提出了冗余平面三维电缆驱动的并联机器人，本文讨论了其电缆配置的分析。环形电缆和恒定力弹簧无限地旋转嵌入在移动部件内的终止内容。通过移动部件框架和环形滑轮的角度的总和冗余的手的角度。使用五电缆的四-DOF机构控制三-fof手。这意味着所提出的CDPR是一种新型电缆驱动的并行机器人，同时具有运动和致动冗余。建议为机器人满足扳手闭合条件时，提出了对CableConfiguration的战术设计和控制。

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