Configuration Synthesis for Fully Restrained 7-Cable-Driven Manipulators | Zendy

Xiaoqiang Tang | Zendy; Lewei Tang | Zendy; Jinsong Wang | Zendy; Dengfeng Sun | Zendy

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Configuration Synthesis for Fully Restrained 7-Cable-Driven Manipulators

Author(s) -

Xiaoqiang Tang,

Lewei Tang,

Jinsong Wang,

Dengfeng Sun

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/52147

Subject(s) - workspace , computer science , kinematics , tension (geology) , set (abstract data type) , quality (philosophy) , distribution (mathematics) , robot , mathematics , artificial intelligence , physics , mathematical analysis , classical mechanics , quantum mechanics , programming language , moment (physics)

Cable distribution plays a vital role in Cable Driven Parallel Manipulators (CDPMs) regarding tension and workspace quality, especially in fully restrained CDPMs. This paper focuses on three typical configurations of fully restrained CDPMs with 7 cables in order to introduce an approach for configuration synthesis. Firstly, the kinematic models of three types of CDPMs with 7 cables are set up. Then, in order to evaluate workspace quality, two new indices are proposed by using tensions along each cable, which are the All Cable Tension Distribution Index (ACTDI) and Global Tension Distribution Index (GTDI). Next, the three types of CDPMs with 7 cables are analysed with the two indices. At the end, according to different performance requirements, the configurations of cable distribution are discussed and selected

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