A Cable-Driven Parallel Robot with an Embedded Tilt-Roll Wrist - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2020

A Cable-Driven Parallel Robot with an Embedded Tilt-Roll Wrist

Résumé

This paper addresses the optimum design, configuration and workspace analysis of a Cable-Driven Parallel Robot (CDPR) with an embedded tilt-roll wrist. The manipulator consists in a tilt-roll wrist mounted on the moving platform of a suspended CDPR. The embedded wrist provides large amplitudes of tilt and roll rotations and a large translational workspace obtained by the CDPR. This manipulator is suitable for tasks requiring large rotation and translation workspaces like tomography scanning, camera-orienting devices and visual surveillance. The moving-platform is an eight-degree-of-freedom articulated mechanism with large translational and rotational workspaces and it is suspended from a fixed frame by six cables. The manipulator employs two bi-actuated cables, i.e., cable loops to transmit the power from motors fixed on the ground to the tilt-roll wrist. Therefore, the manipulator achieves better dynamic performances due to a lower inertia of its moving-platform.
Fichier principal
Vignette du fichier
ASME_JMR_2020_Lessanibahri_Cardou_Caro_HAL.pdf (2.43 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02425813 , version 1 (31-12-2019)
hal-02425813 , version 2 (06-02-2020)

Identifiants

Citer

Saman Lessanibahri, Philippe Cardou, Stéphane Caro. A Cable-Driven Parallel Robot with an Embedded Tilt-Roll Wrist. Journal of Mechanisms and Robotics, 2020, 12 (2), ⟨10.1115/1.4045937⟩. ⟨hal-02425813v2⟩
95 Consultations
234 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More