Affiliation:
1. University of Waterloo, Waterloo, ON, Canada
Abstract
This paper discusses the kinetostatic model of a symmetric cable-driven parallel manipulator that consists of eight cables driving a moving platform in planar translational motions. This analysis is the initial phase of the development of a large-workspace manipulator for warehousing applications. The paper discusses the kinematics, workspace, and stiffness of the manipulator. An analytical expression for the workspace is presented. To enhance the manipulator stiffness, the cable layout is optimized based on maximizing the lowest natural frequency of the moving platform in the workspace.
Cited by
12 articles.
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