Interference Determination for Parallel Cable-Driven Robots

Yu Su; Jian Wei Mi; Yuan Ying Qiu

doi:10.4028/www.scientific.net/AMR.308-310.2013

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 308-310Interference Determination for Parallel...

Interference Determination for Parallel Cable-Driven Robots

Abstract:

This paper develops an approach to overcome the misjudgment and omission problems of determining interference for parallel cable-driven robots, which is essential to clear interference classification in the first place. According to the clear classification, interference condition between a cable and a cable or a cable and an edge of the end-effector has been derived according to all kinds of position relations between the feet of the common perpendicular; the on a cable with a plane of the end-effector has been proved. Compared with the existing approaches, the proposed method can determine the interference region more reasonably.

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Periodical:

Advanced Materials Research (Volumes 308-310)

Pages:

2013-2018

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.308-310.2013

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Online since:

August 2011

Authors:

Yu Su, Jian Wei Mi, Yuan Ying Qiu

Keywords:

Complete Condition, Interference, Parallel Cable-Driven Robots, Parallel Robot

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