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TUTCRIS

Wrench feasible workspace analysis of cable-driven parallel manipulators using LMI approach

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Sivut1034-1039
Sivumäärä6
DOI - pysyväislinkit
TilaJulkaistu - 2009
Julkaistu ulkoisestiKyllä
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
Tapahtuma2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Kesto: 14 heinäkuuta 200917 heinäkuuta 2009

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
MaaSingapore
KaupunkiSingapore
Ajanjakso14/07/0917/07/09

Tiivistelmä

Workspace analysis is one of the most important issues in robotic manipulator design. This paper introduces a systematic method of analysis the wrench feasible workspace for general redundant cable-driven parallel manipulators. In this method, wrench feasible workspace is formulated in term of linear matrix inequalities and projective method is used for solving them. This method is one of the most efficient interiorpoint methods with a polynomial-time complexity. Moreover, the notion of dexterous workspace is defined, which can be determined for redundant cable driven manipulators exerting a worst case external wrench at the end effector. A detailed case study of the wrench feasible workspace and dexterous workspace determination are included for a six DOF, eight actuated cable-driven redundant parallel manipulator.