In this paper, the design and application of a tendon driven (TD) parallel manipulator (PKM) is discussed with regards to micro-factory. Two different configurations of a 6-dof TD-PKM are presented, respectively with six and eight cables, and their kineto-static analysis performed, to evaluate workspace and isotropic behaviour. The design of the special pulleys is described and the main issues on the developed control strategy to deal with a fast manipulator reconfiguration are discussed.
Design of a tendon driven parallel manipulator for microfactory applications
Fassi I;
2008
Abstract
In this paper, the design and application of a tendon driven (TD) parallel manipulator (PKM) is discussed with regards to micro-factory. Two different configurations of a 6-dof TD-PKM are presented, respectively with six and eight cables, and their kineto-static analysis performed, to evaluate workspace and isotropic behaviour. The design of the special pulleys is described and the main issues on the developed control strategy to deal with a fast manipulator reconfiguration are discussed.File in questo prodotto:
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