Cable-based Robot Manipulators with Translational Degrees of Freedom

摘要: Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected active winches provide a variable length and hence actuate mechanism or kinematic constraint eliminate an undesired motion of endeffector. Manipulators which have lengths are usually called cable-driven wire-driven manipulators. manipulators posses several advantages over conventional serial/parallel link including: 1. Large workspace: An winch can large range change on at low cost. This facilitates building for very working spaces cannot obtained by other robots. 2. Low inertia: Materials highest strength-to-mass ratio when they under tensile loading. Using cables, tension, maximizes material strength therefore reduces mass inertia manipulator. is desirable many applications including high speed/acceleration robotics. 3. Simplicity structure: simplify robot structure utilizing bending flexibility joints reducing fabrication cost minimizing machining process. 4. Reconfigurability transportability: Winch assemblies simply relocated reconfigure adjust workspace The ease assembly/disassembly these transportation quick setup. 5. Fully remote actuation: fully manipulator, all actuators sensitive parts located away from end-effector actual area. Such best suit harsh hazardous environments.