DocumentCode
2943264
Title
Dynamic analysis of a hybrid cable-suspended planar manipulator
Author
Bamdad, Mahdi ; Taheri, Farzin ; Abtahi, Niloofar
Author_Institution
Mechatron. Res. Lab., Shahrood Univ., Shahrood, Iran
fYear
2015
fDate
26-30 May 2015
Firstpage
1621
Lastpage
1626
Abstract
This idea introduces a tilting angle amplification system for the cable planar parallel robots. The end-effector rotation capability is increased by adding a serial linkage to the parallel platform. The hybrid serial-parallel robot has the features of both of the parallel manipulator and the serial manipulator. The manipulator is modeled in terms of full dynamics using Newton-Euler and Lagrange methods based analytical approaches.
Keywords
Newton method; end effectors; manipulator dynamics; Lagrange methods; Newton-Euler methods; cable planar parallel robots; dynamic analysis; end-effector rotation capability; hybrid cable-suspended planar manipulator; parallel manipulator; parallel platform; serial linkage; serial manipulator; tilting angle amplification system; Dynamics; Joints; Manipulator dynamics; Mathematical model; Parallel robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location
Seattle, WA
Type
conf
DOI
10.1109/ICRA.2015.7139405
Filename
7139405
Link To Document