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

Published

Author(s)

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

Abstract

In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can 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 MP. 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 MP.
Proceedings Title
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Dates
October 1, 2003
Conference Location
Las Vegas, NV, USA
Conference Title
IEEE/RSJ International Conference on Intelligent Robots and Systems

Keywords

Performance Metric, Robot Crane, Robotics & Intelligent Systems

Citation

Pusey, H. , Fattah, A. , Agrawal, S. , Messina, E. and Jacoff, A. (2003), Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822589 (Accessed April 20, 2024)
Created September 30, 2003, Updated October 12, 2021