Workspaces of Cable-Actuated Parallel Manipulators-Reference-Cited by-同舟云学术

Workspaces of Cable-Actuated Parallel Manipulators

Published:2005-07-25 Issue:1 Volume:128 Page:159-167
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Stump Ethan¹,Kumar Vijay¹

Affiliation:

1. GRASP Laboratory, Department of Mechanical Engineering, University of Pensylvania, Philadelphia, Pennsylvania 19104

Abstract

This paper develops analytical techniques to delineate the workspace boundaries for parallel mechanisms with cables. In such mechanisms, it is not only necessary to solve the closure equations but it is also essential to verify that equilibrium can be achieved with non-negative actuator (cable) forces. We use tools from convex analysis and linear algebra to derive closed-form expressions for the workspace boundaries and illustrate the applications using planar and spatial examples.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/128/1/159/5584896/159_1.pdf

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