Design and workspace analysis of a 6--6 cable-suspended parallel robot

DOI10.1016/J.MECHMACHTHEORY.2004.02.010MaRDI QIDQ1875969zbMATH OpenOpenAlexFDO

Authors Jason Pusey, Abbas Fattah, Sunil Kumar Agrawal, Elena Messina

Publication date 3 September 2004

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2004.02.010

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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• Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: a numerical investigation
• Industrial robot layout based on operation sequence optimisation
• Force-closure workspace analysis of cable-driven parallel mechanisms
• Design of reduced DOF parallel cable-based robots
• Determination of the wrench-closure workspace of 6-DOF parallel cable-driven mechanisms
• A generic force-closure analysis algorithm for cable-driven parallel manipulators

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