Cable-Driven Parallel Robots by Bruckmann, Tobias; Pott, Andreas PDF

By Bruckmann, Tobias; Pott, Andreas

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The characteristics of the winches have been presented in the Table 1. 01 and W p = Wv = diag(1). 9 Kg. The motion planning is applied from point-to-point along a prescribe path illustrated in Fig. 2. In Fig. 3 the path velocity function of path parameter for various values of ε is shown. In phase plane, the path velocity at each point along the path increase as ε is reduced. By reduction to zero, the minimum time velocity profile is reached. The required torque for all 6 motors to carry the maximum payload is shown in Fig.

The cables are forced to pass through the two fixed vertices A1 and A2 (see Fig. 1 and Table 1) at the top of the base polygon by means of guide pulleys and are wound into screw threads machined on the drive pulley surfaces. 15 Nm, maximum torque 10 Nm, rated speed 3,000 rpm) with Simodrive 611U servodrives. Torque control with analog interface is the operating mode selected for both the motors. Additionally, TTL 2,048line encoder emulation has been chosen to get a direct measurement of motor shaft position, and hence of the pulley angles βi .

Mechatron. 7(2), 115–123 (2002) 23. : Modeling and control of a 3-DOF pendulum-like manipulator. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3964–3969 (2011). 24. : Dynamic modeling and active control of a cablesuspended parallel robot. Mechatronics 18, 1–12 (2008) 25. : Point-to-point motion planning of a parallel 3-DOF underactuated cable-suspended robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2325–2330. St-Paul, Minnesota (2012).

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