Abstract
Traditionally, the tasks of the objects transportation in working space are solved using manipulation robots with a sequential kinematic structure. However, the increasing requirements for the mechanical rigidity, load-carrying capacity, mass-size and speed parameters caused the need to develop a new classes of manipulation robots with a parallel connecting circuit. The closed kinematic scheme of such manipulators provides a more higher rigidity of the entire structure. The reduced mass of moving parts reduces the load on electric drives and thus provides an increase in manipulator gripper dynamics and the accuracy of positioning. Finally, the energy efficiency of the process increases. The problems of planning the trajectory of manipulator gripper with a parallel structure and flexible links are considered within the paper.
Highlights
A cable-driven parallel manipulator, or cable robot, is a type of parallel manipulator in which the platform is driven by a set of cables in place of traditional rigid links
The limitations in parallel robot mechanism paved a path for the cable robots
The research was directed towards developing a mechanism that would keep the characteristics of parallel robot intact and reduce the drawbacks, especially small workspaces
Summary
A cable-driven parallel manipulator, or cable robot, is a type of parallel manipulator in which the platform is driven by a set of cables in place of traditional rigid links. A feasible workspace is considered as a set of positions and orientations of a robot in which the EEs are controllable, tensions in cables are positive, forces values lie within the pre-set bounds and the EE is far from singularity. Despite their numerous advantages, there are several challenges associated with cable-driven robots. The modeling and analysis methods that have been developed for conventional rigid-link manipulators cannot be directly applied to cable-driven systems This unilateral property gives rise to the need for actuation redundancy – that is, more cables than degrees of freedom (DoF) – in order to completely restrain and control the platform. This idea can be extended to systems with greater degrees of freedom
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