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Influence of pulley kinematics on cable-driven parallel robots

By Andreas Pott

Abstract

In this paper the modeling of a pulley mechanism for cable-driven parallel robots is presented. In many works, the proximal anchor points of the robots are simplified to be ideal points. Real cables achieve reasonable life time only when a minimum bending radius is exceeded. Therefore, pulley mechanisms have to be used which in turn require the extension of the kinematic modeling. In this paper a kinematic model for a pulley mechanism of the winches is revisited. Then we derive a corrected structure equation and compare the different results from the extended model with the estimation from the simplified standard model with respect to kinematics transformation, workspace, and force distribution

Topics: cable-driven parallel robot, kinematic, paralleler Seilroboter, Arbeitsraum, Pulley, Umlenkrolle, Roboter, Kinematik, statisches Verhalten
Year: 2012
DOI identifier: 10.1007/978-94-007-4620-6_25
OAI identifier: oai:fraunhofer.de:N-223222
Provided by: Fraunhofer-ePrints
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