Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM
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Yksityiskohdat
| Alkuperäiskieli | Englanti |
|---|---|
| Otsikko | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. |
| Julkaisupaikka | Nice |
| Kustantaja | Institute of Electrical and Electronics Engineers IEEE |
| Sivut | 1958-1963 |
| Sivumäärä | 6 |
| ISBN (painettu) | 978-1-4244-2057-5 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - 22 syyskuuta 2008 |
| OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
| Tapahtuma | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. - Nice, Ranska Kesto: 22 syyskuuta 2008 → 26 syyskuuta 2008 |
Conference
| Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. |
|---|---|
| Maa | Ranska |
| Kaupunki | Nice |
| Ajanjakso | 22/09/08 → 26/09/08 |
Tiivistelmä
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.