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Workspace and interference analysis of cable-driven parallel robots with an unlimited rotation axis

: Pott, Andreas; Miermeister, Philipp

Postprint urn:nbn:de:0011-n-4106499 (232 KByte PDF)
MD5 Fingerprint: 53d2760bb709440aaf503cf4b2138d53
Created on: 25.8.2016

Lenarcic, Jadran (Ed.) ; Institut National de Recherche en Informatique et en Automatique -INRIA-, Le Chesnay; International Federation for the Promotion of Mechanism and Machine Science:
Advances in Robot Kinematics : Proceedings of the 15th International Conference on Advances in Robot Kinematics, 2016, Grasse, France
Warschau, 2016
International Conference on Advances in Robot Kinematics <15, 2016, Grasse>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
cable-driven parallel robot; Arbeitsplatz; kontrollierbarer Arbeitsraum; paralleler Seilroboter; endlose Rotationsachse; Kollision

A drawback of many cable-driven parallel robots is a relatively small orientation workspace. In this paper, two design variants for cable-driven parallel robots with nine and twelve cables are proposed that allow for large rotations. It is shown that the platform can perform a 360° rotation while maintaining positive tension in all cables and without collisions amongst the cables. Furthermore, workspace studies of the total orientation workspace are provided. Surprisingly, this family of cable robot is capable to perform an unlimited rotation within a translational workspace of reasonable size. Finally, the efficiency and computation time of force distribution algorithms is compared for cable robots having twelve cables.