Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot
A redundant planar three-dof cable-driven parallel robot is proposed and analysis of its cable-configuration is discussed in this paper. Loop cables and constant force springs unlimitedly rotate the endless-pulley which is embedded inside the moving part. The angle of the hand is redundantly given by the sum of the angles of the moving part frame and the endless-pulley. Three-dof hand is controlled by four-dof mechanism using five-cables. This means that the proposed CDPR is a novel cable-driven parallel robot which simultaneously has the kinematic and actuation redundancies. Tactical design and control for the cable-configurations are proposed as the robot satisfies the wrench-closure condition.
KeywordsCable-driven Redundantly Actuated Cable configurations Wrench-closure condition Kinematic redundancy
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This research was supported by JSPS KAKENHI Grant Number 18K04068.
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