Sciweavers

Share
IROS
2006
IEEE

Workspace Analysis of a 6-DOF Cable Robot for Hardware-in-the-Loop Dynamic Simulation

9 years 5 months ago
Workspace Analysis of a 6-DOF Cable Robot for Hardware-in-the-Loop Dynamic Simulation
- This paper describes the study of the force-closure workspace of a 6-DOF, cable-driven, parallel robot for the application in a hardware-in-the-loop dynamic simulator, which is used for simulating microgravity contact dynamics of spacecraft or robotic systems. The workspace under study is defined as the set of all end-effector poses satisfying force-closure condition. Force-closure also means that the inverse dynamics problem of the manipulator has a feasible solution. Since there is no limitation on the external wrench and the dynamic motion of the end-effector, such a workspace is the most desirable (or nonrestricted) workspace for the intended application – simulating low-speed impact-contact dynamics. A systematic method of determining whether or not a given end-effector’s pose is inside the workspace is proposed with mathematical proof. Based on this method, the shape, boundary, dimensions, and volume of the workspace of a 6-DOF cable robot are displayed and discussed.
Xiumin Diao, Ou Ma
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Xiumin Diao, Ou Ma
Comments (0)
books