Facing the demand for the flexible arrangement of robots on the production lines and adjustment of workspace, reconfiguration research is carried out based on the high-speed cable-driven parallel robot (CDPR), named TBot. The anti-disturbance performance index and analysis method for CDPR with common driven parallel cables are proposed on the basis of the convex hull. The performance of two typical TBots are compared and analyzed accordingly, considering the symmetrical layout. The influence of the vertex angle of base and the location of the upper universal joint on the performance of TBot is illustrated, and a reconfiguration design principle for TBot is concluded to further promote its industrial application. Besides, the proposed method can be extended to the optimization of other CDPRs with common driven parallel cables.
Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
12 pages
Article/Chapter (Book)
Electronic Resource
English
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