DocumentCode
2756015
Title
A Performance Analysis of a 4 Cable-Driven Parallel Manipulator
Author
Ottaviano, Erika ; Ceccarelli, Marco ; Pelagalli, Paolo
Author_Institution
Lab. of Robotics & Mechatronics, Cassino Univ.
fYear
2006
fDate
Dec. 2006
Firstpage
1
Lastpage
6
Abstract
In this paper a performance analysis is presented for a low-cost parallel manipulator with 4 driven cables. Kinematics, statics, and a method for monitoring and verifying positive cable tensions are presented. A prototype has been built and tests have carried out to verify the feasibility of the system design and its operation. Experimental tests have been carried out for monitoring the cables´ tension for a spatial application of the manipulator
Keywords
manipulator kinematics; 4 cable-driven parallel manipulator; cable tensions; experimental robotics; performance analysis; Actuators; Cables; Kinematics; Manipulators; Mechatronics; Monitoring; Parallel robots; Performance analysis; Prototypes; System testing; Cable-Driven Systems; Experimental Robotics; Parallel manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location
Bangkok
Print_ISBN
1-4244-0024-4
Electronic_ISBN
1-4244-0025-2
Type
conf
DOI
10.1109/RAMECH.2006.252635
Filename
4018751
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