DocumentCode
1670101
Title
Design and analysis of completely restrained cable manipulators with 3 Degrees of Freedom
Author
Zi, Bin ; Zhu, Zhen-cai
Author_Institution
Sch. of Mech. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou, China
fYear
2010
Firstpage
439
Lastpage
443
Abstract
This paper investigates the design, workspace, and analysis of completely restrained cable manipulators (CRCM) with 3 Degrees of Freedom (DOF). The design of the drive transmission system and integrated CRCM system is developed. According to the equivalent circuit of the servo mechanism, the dynamic formulation of the electromechanical coupling system for CRCM is studied. The workspace of the CRCM is also discussed. Finally, the results are demonstrated through simulation on a 3-DOF CRCM.
Keywords
drives; equivalent circuits; manipulators; power transmission (mechanical); servomechanisms; 3-DOF CRCM; completely restrained cable manipulator; drive transmission system; electromechanical coupling system; equivalent circuit; integrated CRCM system; servo mechanism; Dynamics; Manipulators; Mathematical model; Mechanical cables; Pulleys; Servomotors; Completely restrained cable manipulators; analysis; servomechanism; simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location
Jinan
Print_ISBN
978-1-4244-6712-9
Type
conf
DOI
10.1109/WCICA.2010.5553776
Filename
5553776
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