Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Tao Zhao, Bin Zi, Sen Qian, Zeqiang Yin, Dan Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

4 Citations (Scopus)

Abstract

To obtain better flexibility and multifunction in varying practical applications, several typical configurations of a modular reconfigurable cable-driven parallel robot are analyzed in this article. The spatial topology of the modular reconfigurable cable-driven parallel robot can be reconfigured by manually detaching or attaching the different number of modular branches as well as changing the connection points on the end-effector to satisfy diverse task requirements. The structure design of the modular reconfigurable cable-driven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. The inverse kinematics and dynamics of the modular reconfigurable cable-driven parallel robot considering diverse configurations are derived according to the vector closed rule and Lagrange method, respectively. The numerical simulation and related experiments of a typical configuration are achieved and analyzed. The results verify the effectiveness and feasibility of the inverse kinematics and dynamics models for the modular reconfigurable cable-driven parallel robot.

Original languageEnglish
JournalInternational Journal of Advanced Robotic Systems
Volume16
Issue number2
DOIs
Publication statusPublished - 1 Mar 2019
Externally publishedYes

Keywords

  • inverse kinematics and dynamics
  • Reconfigurable cable-driven parallel robot
  • structure design
  • typical configuration analysis

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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