Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail...

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Bibliographic Details
Published inAdvanced engineering forum Vol. 2-3; pp. 302 - 307
Main Authors Yu, Tao, Han, Qing Kai
Format Journal Article
LanguageEnglish
Published Trans Tech Publications Ltd 01.01.2012
Subjects
Statics
Parallel Robot
Wire-Driven
Kinematics
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Summary:In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.
Bibliography:Selected, peer reviewed papers from the 2011 International Conference on Mechatronics and Information Technology, (ICMIT 2011), August 16-19, 2011, Shenyang, China
ISSN:2234-9898
2234-991X
2234-991X
DOI:10.4028/www.scientific.net/AEF.2-3.302