Design and workspace analysis of a 6-6 cable-suspended parallel robot

Author

Pusey, Jason ; Fattah, Abbas ; Agrawal, Sunil ; Messina, Elena ; Jacoff, Adam

Author_Institution

Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2090

Abstract

In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume and the accuracy of the robot using different geometric configurations, different sizes and orientations of the MP. The global condition index is used as a performance index of a robot with respect to the force and velocity transmission over the whole workspace. The results are used for design analysis of the cable-robot for a specific motion of the MP.

Keywords

Jacobian matrices; performance index; robot kinematics; 6-6 cable-suspended parallel robot; 6DOF; geometric configurations; moving platform motion; optimal design; performance index; suspension cables; velocity transmission; workspace analysis; workspace volume; Actuators; Intelligent robots; Kinematics; Mechanical cables; Mechanical engineering; Motion analysis; NIST; Parallel robots; Performance analysis; Pistons;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249179

Filename

1249179