TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS.
JulkaisupaikkaNice
KustantajaInstitute of Electrical and Electronics Engineers IEEE
Sivut1958-1963
Sivumäärä6
ISBN (painettu)978-1-4244-2057-5
DOI - pysyväislinkit
TilaJulkaistu - 22 syyskuuta 2008
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. - Nice, Ranska
Kesto: 22 syyskuuta 200826 syyskuuta 2008

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
MaaRanska
KaupunkiNice
Ajanjakso22/09/0826/09/08

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.

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