Lateral bending models of spring spine for cable-driven parallel mechanism
作者： Bingtuan Gao , Jingyi Hu , Shaoxiong Guo , Wei Li , Qinyi Kan
DOI: 10.1109/WCICA.2014.7053238
关键词: Inverse kinematics 、 Bending 、 Mechanism (engineering) 、 Spring (mathematics) 、 Statics 、 Robot 、 Parallel manipulator 、 Engineering 、 Kinematics 、 Structural engineering
摘要: Cable-driven parallel robots with flexible spring spine were present to mimic a human neck. The fixed base and moving platform of the are connected by cables compression spring. serves as cervical support facilitate motion corresponding head. serve muscles around neck drive robot. bending is key inverse kinematics robots. In this paper, we compare two types lateral models first one takes circular arc; therefore, homogeneous transformation matrix robot can be calculated based on geometry, which leads solving directly. second linear two-order differential equation; has combined statics analysis for possible solutions. Inverse solved simulated equations. simulation results show that have similar cable length given posture platform. However, arc case guarantee nonnegative force constraint only small angles
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