Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. |
| Place of Publication | Nice |
| Publisher | Institute of Electrical and Electronics Engineers IEEE |
| Pages | 1958-1963 |
| Number of pages | 6 |
| ISBN (Print) | 978-1-4244-2057-5 |
| DOIs | |
| Publication status | Published - 22 Sep 2008 |
| Publication type | A4 Article in a conference publication |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. - Nice, France Duration: 22 Sep 2008 → 26 Sep 2008 |
Conference
| Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. |
|---|---|
| Country | France |
| City | Nice |
| Period | 22/09/08 → 26/09/08 |
Abstract
KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible high speed and large workspace applications. This newly developed mechanisms have several advantages compared to the conventional parallel mechanisms. Its rotational motion range is relatively large, its redundancy improves safety for failure in cables, and its design is suitable for long-time high acceleration motions. In this paper, collision-free workspace of the manipulator is derived by applying fast geometrical intersection detection method, which can be used for any fully parallel manipulator. Implementation of the algorithm on the Neuron design of the KNTU CDRPM leads to significant results, which introduce a new style of design of a spatial cable-driven parallel manipulators. The results are elaborated in three presentations; constant-orientation workspace, total orientation workspace and orientation workspace.
ASJC Scopus subject areas
Keywords
- redundant manipulators, parallel robots