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Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

Hamoon Hadian, Abbas Fattah
Copyright: © 2011 |Volume: 1 |Issue: 4 |Pages: 26
ISSN: 2156-1664|EISSN: 2156-1656|EISBN13: 9781613508008|DOI: 10.4018/ijimr.2011100104
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MLA

Hadian, Hamoon, and Abbas Fattah. "Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots." IJIMR vol.1, no.4 2011: pp.61-86. http://doi.org/10.4018/ijimr.2011100104

APA

Hadian, H. & Fattah, A. (2011). Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots. International Journal of Intelligent Mechatronics and Robotics (IJIMR), 1(4), 61-86. http://doi.org/10.4018/ijimr.2011100104

Chicago

Hadian, Hamoon, and Abbas Fattah. "Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots," International Journal of Intelligent Mechatronics and Robotics (IJIMR) 1, no.4: 61-86. http://doi.org/10.4018/ijimr.2011100104

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Abstract

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obtain their isotropic postures. These are a 6-6 cable-suspended parallel robot and a novel restricted three-degree-of-freedom cable-driven parallel robot. Eventually, the results of isotropic conditions of both cable robots are compared to show their applications.

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