Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator

Li Wen Guan; Cheng Long Mu; Yu Jian Hu

doi:10.4028/www.scientific.net/AMM.415.519

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 415Modeling and Workplace Analysis of 3T Cable-Driven...

Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator

Abstract:

This paper analyzes the dynamic modeling and workplace of the 3T cable-driven parallel manipulator. The mechanism utilizes four cables to driven. Firstly, the kinematics equations and the inverse dynamics model were set up for the analysis. And then, pseudo-drag is a serious problem in cable-driven parallel manipulator, this paper give a method to find the workplace under the condition of pseudo-drag. Finally, through numerical simulation, the workplace of the mechanism satisfying the demand is presented by comprehensive analysis.

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Periodical:

Applied Mechanics and Materials (Volume 415)

Pages:

519-523

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.415.519

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Online since:

September 2013

Authors:

Li Wen Guan, Cheng Long Mu, Yu Jian Hu

Keywords:

3T Cable-Driven Parallel Manipulator, Dynamic Modeling, Pseudo-Drag Analysis, Workplace

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