Research on Wire-Driven Parallel Manipulators
The forward kinematics of wire-driven parallel manipulator CRPM(Completely Restrained Position Mechanism) for aircraft wind tunnels is presented. Based on parameter GCI of workspace performance for the parallel manipulator is proposed, and the structure dimension by instance is optimized. The optimal tension distributing of CRPM is theoretically solved, based on effect coefficient harmonic resolution and energy optimal resolution equations are established which are showed by very simple expression.
X. Y. Wang and Y. Cao, "Research on Wire-Driven Parallel Manipulators", Key Engineering Materials, Vols. 467-469, pp. 263-268, 2011