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IROS
2008
IEEE

Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

10 years 4 months ago
Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM
— KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible high speed and large workspace applications. This newly developed mechanisms have several advantages compared to the conventional parallel mechanisms. Its rotational motion range is relatively large, its redundancy improves safety for failure in cables, and its design is suitable for long-time high acceleration motions. In this paper, collision-free workspace of the manipulator is derived by applying fast geometrical intersection detection method, which can be used for any fully parallel manipulator. Implementation of the algorithm on the Neuron design of the KNTU CDRPM leads to significant results, which introduce a new style of design of a spatial cable-driven parallel manipulators. The results are elaborated in three presentations; constant-orientation workspace, total orientation workspace and orientation workspace.
Mohammad M. Aref, Hamid D. Taghirad
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Mohammad M. Aref, Hamid D. Taghirad
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