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

Published

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

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 June 13, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created September 30, 2003, Updated October 12, 2021