Paper Title:
Trajectory Planning of Wire-Driven Parallel Manipulator Based on Influence Coefficient Method
  Abstract

The dynamic model of a 6-DOF wire-driven parallel manipulator is established, based on influence coefficient method for wire-driven parallel manipulator trajectory planning algorithm is proposed, the orientation parameters by Euler angles of moving platform of time first-order and second-order derivative which is not a moving platform angular velocity and angular acceleration is verified. For the moving platform position and orientation workspace trajectory planning, the kinematic characteristics of wires are discussed. The simulation results show that the tension of the wires are always greater than 0, the expressions of velocity, acceleration and tension of wires are exceptionally clear and simple. Also, the method of trajectory planning proposed is suitable for general 6-DOF wire-driven parallel manipulator.

  Info
Periodical
Advanced Materials Research (Volumes 143-144)
Edited by
H. Wang, B.J. Zhang, X.Z. Liu, D.Z. Luo, S.B. Zhong
Pages
313-317
DOI
10.4028/www.scientific.net/AMR.143-144.313
Citation
Y. Cao, X. Y. Wang, H. Zhou, S. Long, M. S. Liu, "Trajectory Planning of Wire-Driven Parallel Manipulator Based on Influence Coefficient Method", Advanced Materials Research, Vols. 143-144, pp. 313-317, 2011
Online since
October 2010
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Price
$32.00
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