Motion Trajectory Planning of 3-Dof Wire-Driven Parallel Robot

Jin Peng Zhou; Zhi Dan Zhong; Zhen Zhong Wang

doi:10.4028/www.scientific.net/AMR.424-425.369

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 424-425Motion Trajectory Planning of 3-Dof Wire-Driven...

Motion Trajectory Planning of 3-Dof Wire-Driven Parallel Robot

Abstract:

3-dof wire-driven parallel mechanism is studied in this research. The kinematic analysis of this wire-driven parallel mechanism is given according to analytical method. The method for spline function is proposed to generate a continuous, smooth and noiseless trajectory of the wire. The simulation results, based on simulink, verify the rationality of this trajectory planning algorithm

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Periodical:

Advanced Materials Research (Volumes 424-425)

Pages:

369-372

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.424-425.369

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Online since:

January 2012

Authors:

Jin Peng Zhou, Zhi Dan Zhong, Zhen Zhong Wang

Keywords:

3-DOF, Motion Trajectory Planning, Parallel Manipulator, Spline Function , Wire-Driven

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References

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