Forward Kinematics Analysis of a Four-Cable-Driving Parallel Robot

Xing Guo Shao; Zhen Cai Zhu; Guo Hua Cao; Yi Lei Li

doi:10.4028/www.scientific.net/AMM.79.13

Paper Titles

Preface, Organizing Committee

Research on Improvement Algorithm of Model Free Learning Adaptive Controller
p.1

Synthesis of CdS/CdCO₃ Core/Shell Structural Nanocrystals Potentially Used for Solar Cell via Hydrothermal Route
p.7

Forward Kinematics Analysis of a Four-Cable-Driving Parallel Robot
p.13

Probability Boxes and DS Structures’ Research Prospects in the Mechanical Fault Signals Data Fusion
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Effects of Ca Addition into AZ91D Alloy on Structure and Tensile Fracture Behavior
p.25

Determination of Benzopyrene in Mainstream and Sidestream Smoke
p.29

The Effects of Filter Ventilation on Flavor Constituents in Cigarette Smoke
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Effect of Different Ratio of Cake Fertilizer and Inorganic Fertilizer on Free-Amino Acids in Burley Leaves
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 79Forward Kinematics Analysis of a...

Forward Kinematics Analysis of a Four-Cable-Driving Parallel Robot

Abstract:

This paper studies the forward kinematics of a sinking winch mechanism, which is in category of four-cable-driving parallel robot. The tension states (tautness or slackness) of cables are firstly taken into consideration in the forward kinematics model. We propose a traversal algorithm to solve the model. Both pose of platform and the tensions in cables can be solved if the lengths of four cables are given. The effectiveness of the algorithm is demonstrated by three examples. The results of this paper can be used to measure the pose of platform and the tensions of cables from the lengths of four cables.

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Periodical:

Applied Mechanics and Materials (Volume 79)

Pages:

13-18

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.79.13

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Online since:

July 2011

Authors:

Xing Guo Shao, Zhen Cai Zhu, Guo Hua Cao, Yi Lei Li

Keywords:

Cable-Driving Parallel Robot, Forward Kinematics, Sinking Winch Mechanism, Tension State

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