A key advantage of cable-driven parallel robots, compared to other robot types, is their large workspace. Despite this fact, experiments in previous works have shown that cable-driven parallel robots often cannot fully realize their theoretically estimated workspace in practice. To remedy this shortcoming, a new inverse kinematic code is developed which considers the previously neglected effects of both cable sagging and pulleys. For a realistic exemplary robot, the new kinematic code yields a 19.5% larger wrench-feasible workspace volume for the catenary-pulley model than previous codes. This result shows that the effects of cable sagging and pulleys should be considered in the kinematic codes, especially for large cable-driven parallel robots.
An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys
2020
9 pages
Pisla, Doina: New Trends in Mechanism and Machine Science: EuCoMeS. Cham: Springer Nature, 2020. (Mechanisms and Machine Science 89), pp. 423-431
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Unbekannt
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