Design and Kinematic Analysis of a Modular Re-Configurable Cable-Driven Parallel Robot
作者： Lili Zhou , Wenfu Xu , Haoyao Chen , Hailin Huang , Han Yuan
DOI: 10.1109/RCAR.2018.8621794
关键词: Payload 、 Workspace 、 Control engineering 、 Computer science 、 Parallel manipulator 、 Line (geometry) 、 Kinematics 、 Robot 、 Modular design 、 Control reconfiguration
摘要: Cable-driven parallel robots (CDPRs) have attracted extensive attentions in the past few years due to their advantages both large workspace and payload capacity. Furthermore, CDPRs potential reconfiguration. In this research, a re-configurable CDPR is presented, its modular design detailed. Then, kinematics of proposed analyzed including inverse direct kinematics. Based on kinematic model, simulation validations are made by using two kinds trajectories, i.e. line circle. Finally, prototypes built preliminary experiments made, alphabetic writing Chinese character tests. Results show that performance robot good, which further validates modeling reconfigurable CDPR.
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