TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Forward kinematic analysis of a planar cable driven redundant parallel manipulator using force sensors

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Sivut2295-2300
Sivumäärä6
DOI - pysyväislinkit
TilaJulkaistu - 2010
Julkaistu ulkoisestiKyllä
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
Tapahtuma23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Kesto: 18 lokakuuta 201022 lokakuuta 2010

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
MaaTaiwan
KaupunkiTaipei
Ajanjakso18/10/1022/10/10

Tiivistelmä

Newly developed cable driven redundant parallel manipulators (CDRPM) have numerous advantages compared to that of the conventional parallel mechanisms. However, there exist some challenging issues in over-constrained mechanisms like CDRPMs. In contrast to serial manipulators, complexity of parallel manipulator forward kinematics (FK) is one of the main issues being under study in the control of such manipulators. Moreover, using extra sensory data is a common approach in the FK solution of rigid-linked parallel manipulators, which is considered by fewer researchers for CDRPMs. In this paper, tension force sensors of the cables are used as an extra sensor to simplify analytical solution of the FK for a planar CDRPM. To find a suitable solution, geometrical and physical characteristics of the robot are analyzed. It is shown that the proposed method provides the required accuracy and significantly improves the process time compared to the conventional methods.