Conference Proceedings
Design and analysis of 4-DOF cable-driven parallel mechanism
D Lau, T Hawke, L Kempton, D Oetomo, S Halgamuge
Proceedings of the 2010 Australasian Conference on Robotics and Automation Acra 2010 | Published : 2010
Abstract
The design and analysis of a 4-DOF multi-link cable driven parallel mechanism is presented. In contrast to many existing cable driven parallel mechanism, the proposed manipulator's rigid links are serially articulated. This design preserves the advantages associated with cable-driven parallel mechanisms, and introduces the advantages in having a serial kinematic structure. The kinematic and kinetic analysis is presented, with focus on the different types of cable routings. Several aspects of the manipulator design and assumptions are also discussed. The solving of inverse dynamics and wrench-closure workspace problems are important in the control and analysis of the mechanism. A detailed exa..
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