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.
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;
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
DOI :
10.1109/RAMECH.2006.252635
