Title :
Interference free workspace analysis of redundant 3D cable robots
Author :
Ghasem, Ali ; Farid, Mehrdad ; Eghtesad, Mohammad
Author_Institution :
Shiraz Univ., Shiraz
Abstract :
This paper develops an analytical approach for the workspace analysis of redundant cable robots with consideration of two types of interference. Both types of interference, cable/cable and cable/platform, are taken into account with important limiting factors for 2D and 3D cable robots with any number of redundancy. Simulation results are presented to show the importance of the interference consideration.
Keywords :
end effectors; redundant manipulators; cable/cable interference; cable/platform interference; end effector; interference free workspace manipulation; redundant 3D cable robot; Bismuth; Cables; Equations; Interference constraints; Linear algebra; Manipulators; Mobile robots; Transmission line matrix methods; Cable robot; Interference; Redundancy; Workspace;
Conference_Titel :
Automation Congress, 2008. WAC 2008. World
Conference_Location :
Hawaii, HI
Print_ISBN :
978-1-889335-38-4
Electronic_ISBN :
978-1-889335-37-7
