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Influence of pulley kinematics on cable-driven parallel robots

: Pott, Andreas


Lenarcic, Jadran (Ed.):
Latest Advances in Robot Kinematics
Dordrecht: Springer Netherland, 2012
ISBN: 978-94-007-4619-0 (Print)
ISBN: 978-94-007-4620-6 (Online)
Book Article
Fraunhofer IPA ()
cable-driven parallel robot; kinematic; paralleler Seilroboter; Arbeitsraum; Pulley; Umlenkrolle; Roboter; Kinematik; statisches Verhalten

In this paper the modeling of a pulley mechanism for cable-driven parallel robots is presented. In many works, the proximal anchor points of the robots are simplified to be ideal points. Real cables achieve reasonable life time only when a minimum bending radius is exceeded. Therefore, pulley mechanisms have to be used which in turn require the extension of the kinematic modeling. In this paper a kinematic model for a pulley mechanism of the winches is revisited. Then we derive a corrected structure equation and compare the different results from the extended model with the estimation from the simplified standard model with respect to kinematics transformation, workspace, and force distribution.