Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

Published

October 1, 2003

Author(s)

JJ Pusey, A Fattah, S K. Agrawal, Elena R. Messina, Adam S. Jacoff

Abstract

In this paper, we study the design and workspaceof a 6-6 cable-suspended parallel robot. Theworkspace volume is characterized as the set ofpoints where the centroid of the moving platformcan reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume and the accuracy of the robot using different geometric configurations, different sizes and orientations of the moving platform. The global condition index is used as a performance index of a robot with respect to the force and velocity transmission over the whole workspace. The results are used for design analysis of the cable-robot for a specific motion of the moving platform.

Proceedings Title

Intelligent Robots and Systems; 2003/RSJ International Conference on Intelligent Robots and Systems (IROS), International Conference | | | IEEE

Volume

3

Conference Dates

October 27-31, 2003

Conference Location

Undefined

Conference Title

IEEE International Conference on Intelligent Robots and Systems

Pub Type

Conferences

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Keywords

cable-based machines, design, modeling, parallel kinematic machines, robotics

Citation

Pusey, J. , Fattah, A. , Agrawal, S. , Messina, E. and Jacoff, A. (2003), Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot, Intelligent Robots and Systems; 2003/RSJ International Conference on Intelligent Robots and Systems (IROS), International Conference | | | IEEE, Undefined, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823467 (Accessed December 22, 2024)