Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

Tao Yu; Qing Kai Han

doi:10.4028/www.scientific.net/AEF.2-3.302

Paper Titles

Lowering Objects with a Power Assist Robot: The Preliminary Study
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Research on Dynamic Characteristics of Serial-Parallel Combination Joint with Flexible-Cable
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Structural Optimization of Variable Section Slender Manipulator Based on Sensitivity Analysis Method
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A Relationship between Movement Time and Traveled Distances in Forward/Backward Direction Cooperative Task
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Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot
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Key Posture Extraction from Object Manipulations Experiments
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System Analysis and Design of Gripping Device for Wafer Transfer Robot
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An Overview on Wafer Pre-Aligner
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Multi-Objective Optimal Kinematic Design of 3-TPS/TP Parallel Robot Manipulator
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HomeAdvanced Engineering ForumAdvanced Engineering Forum Vols. 2-3Kinematic Analysis of Three-Wire-Driven Parallel...

Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

Abstract:

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.

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Periodical:

Advanced Engineering Forum (Volumes 2-3)

Pages:

302-307

DOI:

https://doi.org/10.4028/www.scientific.net/AEF.2-3.302

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Cite this paper

Online since:

December 2011

Authors:

Tao Yu, Qing Kai Han

Keywords:

Kinematics, Parallel Robot, Statics, Wire-Driven

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Creative Commons CC BY 4.0

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References

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