Cable-Driven Parallel Robots (CDPRs) employ bendable cables instead of rigid links to move an end-effector (EE). Cables are wound on winches, routed through pulleys, and finally attached to the EE. The real-time Direct Kinematics of these manipulators is usually solved by measuring the lengths of each cable, but the problem may attain multiple solutions. This paper proposes the kinematic model, design, and experimental evidence of a novel cable-routing system. The system can be embedded with two rotary sensors and a load cell, which measure kinematic model variables, presumably simplifying real-time Direct Kinematics of CDPRs.
Kinematic Modeling and Design of a Sensorized Cable-Routing System for Cable-Driven Parallel Robots
Ida E.
Ultimo
Supervision
2022
Abstract
Cable-Driven Parallel Robots (CDPRs) employ bendable cables instead of rigid links to move an end-effector (EE). Cables are wound on winches, routed through pulleys, and finally attached to the EE. The real-time Direct Kinematics of these manipulators is usually solved by measuring the lengths of each cable, but the problem may attain multiple solutions. This paper proposes the kinematic model, design, and experimental evidence of a novel cable-routing system. The system can be embedded with two rotary sensors and a load cell, which measure kinematic model variables, presumably simplifying real-time Direct Kinematics of CDPRs.File in questo prodotto:
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