TY - GEN
T1 - Design and kinematic analysis of a modular re-configurable cable-driven parallel robot
AU - Zhou, Lili
AU - Xu, Wenfu
AU - Chen, Haoyao
AU - Huang, Hailin
AU - Yuan, Han
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Cable-driven parallel robots (CDPRs) have attracted extensive attentions in the past few years due to their advantages in both the large workspace and the large payload capacity. Furthermore, CDPRs have potential in reconfiguration. In this research, a re-configurable CDPR is presented, and its modular design is detailed. Then, kinematics of the proposed CDPR is analyzed including the inverse and direct kinematics. Based on the kinematic model, simulation validations are made by using two kinds of trajectories, i.e. a line and a circle. Finally, prototypes are built and preliminary experiments are made, including the alphabetic writing and the Chinese character writing tests. Results show that the performance of the robot is good, which further validates the kinematic modeling and modular design of the proposed reconfigurable CDPR.
AB - Cable-driven parallel robots (CDPRs) have attracted extensive attentions in the past few years due to their advantages in both the large workspace and the large payload capacity. Furthermore, CDPRs have potential in reconfiguration. In this research, a re-configurable CDPR is presented, and its modular design is detailed. Then, kinematics of the proposed CDPR is analyzed including the inverse and direct kinematics. Based on the kinematic model, simulation validations are made by using two kinds of trajectories, i.e. a line and a circle. Finally, prototypes are built and preliminary experiments are made, including the alphabetic writing and the Chinese character writing tests. Results show that the performance of the robot is good, which further validates the kinematic modeling and modular design of the proposed reconfigurable CDPR.
UR - https://www.scopus.com/pages/publications/85062551819
U2 - 10.1109/RCAR.2018.8621794
DO - 10.1109/RCAR.2018.8621794
M3 - 会议稿件
AN - SCOPUS:85062551819
T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
SP - 620
EP - 625
BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Y2 - 1 August 2018 through 5 August 2018
ER -