Workspace analysis of cable-suspended robots with elastic cable

Author

Korayem, M.H. ; Bamdad, M. ; Saadat, M.

Author_Institution

Coll. of Mech. Eng., Res. Lab., Iran Univ. of Sci. & Technol., Tehran

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1942

Lastpage

1947

Abstract

This paper presents a kinematics and workspace analysis of cable-suspended manipulators with elastic cable. The mechanics of extensible cable with a deflection to its self-weight are studied. The problem of evaluating the workspace is approached by using a modified formulation for a deformable cable. The proposed algorithm for testing whether a given configuration lies within the reachable workspace is applied. Starting with a general statement of the kinetic equations of the elastic cable and incorporate cable flexibility into workspace generation. This algorithm is verified through simulation results of various cable-suspended robots.

Keywords

manipulator kinematics; cable-suspended manipulators; elastic cable; kinetic equations; robot kinematics; workspace analysis; Biomimetics; Cable TV; Kinematics; Kinetic theory; Manipulators; Mechanical cables; Mechanical engineering; Mobile robots; Nonlinear equations; Orbital robotics; Cable-Suspected Robot; Elastic Cable; Kinematics Analysis; Workspace analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522464

Filename

4522464