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Forward kinematics and workspace determination of a wire robot for industrial applications

: Pott, Andreas


Lenarcic, J. ; International Federation for the Promotion of Mechanism and Machine Science:
Advances in robot kinematics. Analysis and design : Eleventh International Symposium on Advances in Robot Kinematics, June 22-26, 2008 in Batz-sur-Mer, France
Berlin: Springer, 2008
ISBN: 978-1-4020-8599-4
ISBN: 1-4020-8599-0
International Symposium on Advances in Robot Kinematics (ARK) <11, 2008, Batz-sur-Mer>
Conference Paper
Fraunhofer IPA ()
Parallelkinematik; Seilroboter; Kinematik; Roboter

This paper presents the recent results from a newly designed parallel wire robot which is currently under construction. Firstly, an overview of the system architecture is given and technically relevant requirements for the realization are identified. A technique to compute and transfer an estimation of the workspace to CAD tools is presented. Furthermore, tools to solve the forward kinematics of some special configuration under real-time requirements are explored. Simulation results show the feasibility of the presented algorithms.