Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators using a Hybrid Analytical-Numerical Approach
- Тип контента: Научная статья
- Номер документа: 7428
- Название документа: Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators using a Hybrid Analytical-Numerical Approach
- Номер (DOI, IBSN, Патент): Не заполнено
- Изобретатель/автор: Darwin Lau, Denny Oetomo, Saman Halgamuge
- Правопреемник/учебное заведение: Department of Mechanical Engineering the University of Melbourne Melbourne, Australia
- Дата публикации документа: 2010-12-31
- Страна опубликовавшая документ: Австралия
- Язык документа: Английский
- Наименование изделия: Не заполнено
- Источник: Не заполнено
- Вложения: Да
- Аналитик: Глаголева Елена
In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, analytical formulations have higher accuracy, but often provides only qualitative workspace information. The proposed hybrid approach combines the high accuracy of the analytical approach and the algorithmic versatility of the numerical approach. Additionally, this is achieved with significantly lower computational costs compared to numerical methods. It is shown that the wrench-closure workspace can be reduced to a set of univariate polynomial inequalities with respect to a single variable of the end-effector motion. In this form, the workspace can then be efficiently determined and quantitatively evaluated. The proposed technique is described for a 3-DOF and a 6-DOF cable driven parallel manipulator. A detailed example in workspace determination using the proposed approach and comparison against the conventional numerical approach are presented.
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