Workspace Analysis of 6–6 Cable-Suspended Parallel Robots
In this paper, the effect of the moving platform size on the workspace volume of 6–6 cable-suspended parallel robots is investigated in details for different geometric configurations and orientations of the moving platform. The obtained hints can be used as a rule of thumb in designing this type of robot.
[1] S. Kawamura, W. Choe, S. Tanaka, and S. Pandian, “Development of an ultrahigh speed robot FALCON using wire drive system,” in Proc. IEEE/ICRA Int. Conf. Robot. Autom. 1995, pp. 215–220.
[2] J. Albus, R. Bostelman, and N. Dagalakis, “The NIST RoboCrane,” J. Robot. Syst.. vol. 10, no. 5, pp.709–724, 1992.
[3] L. L. Cone, “Skycam: An aerial robotic camera system,” Byte, vol. 10, no. 10, pp. 122–132, 1985.
[4] S. Mustafa, G. Yang, S. Yeo, W. Lin, and I.M. Chen, “Self-calibration of a biologically inspired 7 DOF cable-driven robotic arm,” IEEE/ASME Trans. Mechatronics, vol. 13, no.1, pp. 66–75, 2008.
[5] A. Ming, and T. Higuchi, “Study on multiple degree-of freedom positioning mechanism using wires (part 1)- concept, design and control,” Int. J. Jpn. Soc. Precision Eng., vol. 28, no. 2, pp. 131–138, 1994.
[6] R. Verhoeven, “Analysis of the Workspace of Tendon-based Stewart Platforms,” PhD thesis, University of Duisburg-Essen, 2004.
[7] B. Duan, “A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis,” Mechatron. vol. 9, no.1, pp. 54–64, 1999.
[8] J. Pusey, A. Fattah, S. Agrawal, E. Messina. “Design and workspace analysis of a 6-6 cable-suspended parallel robot,” Mech. Mach. Theory, vol. 39, no.7, pp. 761-778, 2004.
[9] J. Hamedi, A. Bahrami, M. Nikkhah-Bahrami, “Workspace sensitivity analysis of spatial cable robots,” in Proc IASTED Int. Conf. Robot, Robo 2010, pp.175–182.
[10] A. Bahrami, M. Nikkhah-Bahrami, “Multi objective design of spatial cable robots,” in Proc 2nd IASTED Int. Conf. Robot, Robo 2011, pp. 345–352.
[11] A. Bahrami, M. Nikkhah-Bahrami. “Comments on “Design and workspace analysis of a 6–6 cable-suspended parallel robot”,” Mech. Mach. Theory, vol. 98, pp. 1, 2016.
[12] A. Bahrami, M. Nikkhah-Bahrami, “Optimal design of a spatial six-cable robot,” in Proc 2nd IASTED Int. Conf. Robot, Robo 2011, pp. 134–141.
[1] S. Kawamura, W. Choe, S. Tanaka, and S. Pandian, “Development of an ultrahigh speed robot FALCON using wire drive system,” in Proc. IEEE/ICRA Int. Conf. Robot. Autom. 1995, pp. 215–220.
[2] J. Albus, R. Bostelman, and N. Dagalakis, “The NIST RoboCrane,” J. Robot. Syst.. vol. 10, no. 5, pp.709–724, 1992.
[3] L. L. Cone, “Skycam: An aerial robotic camera system,” Byte, vol. 10, no. 10, pp. 122–132, 1985.
[4] S. Mustafa, G. Yang, S. Yeo, W. Lin, and I.M. Chen, “Self-calibration of a biologically inspired 7 DOF cable-driven robotic arm,” IEEE/ASME Trans. Mechatronics, vol. 13, no.1, pp. 66–75, 2008.
[5] A. Ming, and T. Higuchi, “Study on multiple degree-of freedom positioning mechanism using wires (part 1)- concept, design and control,” Int. J. Jpn. Soc. Precision Eng., vol. 28, no. 2, pp. 131–138, 1994.
[6] R. Verhoeven, “Analysis of the Workspace of Tendon-based Stewart Platforms,” PhD thesis, University of Duisburg-Essen, 2004.
[7] B. Duan, “A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis,” Mechatron. vol. 9, no.1, pp. 54–64, 1999.
[8] J. Pusey, A. Fattah, S. Agrawal, E. Messina. “Design and workspace analysis of a 6-6 cable-suspended parallel robot,” Mech. Mach. Theory, vol. 39, no.7, pp. 761-778, 2004.
[9] J. Hamedi, A. Bahrami, M. Nikkhah-Bahrami, “Workspace sensitivity analysis of spatial cable robots,” in Proc IASTED Int. Conf. Robot, Robo 2010, pp.175–182.
[10] A. Bahrami, M. Nikkhah-Bahrami, “Multi objective design of spatial cable robots,” in Proc 2nd IASTED Int. Conf. Robot, Robo 2011, pp. 345–352.
[11] A. Bahrami, M. Nikkhah-Bahrami. “Comments on “Design and workspace analysis of a 6–6 cable-suspended parallel robot”,” Mech. Mach. Theory, vol. 98, pp. 1, 2016.
[12] A. Bahrami, M. Nikkhah-Bahrami, “Optimal design of a spatial six-cable robot,” in Proc 2nd IASTED Int. Conf. Robot, Robo 2011, pp. 134–141.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:74584", author = "Arian Bahrami and Amir Teimourian", title = "Workspace Analysis of 6–6 Cable-Suspended Parallel Robots", abstract = "In this paper, the effect of the moving platform size on the workspace volume of 6–6 cable-suspended parallel robots is investigated in details for different geometric configurations and orientations of the moving platform. The obtained hints can be used as a rule of thumb in designing this type of robot.", keywords = "Cable-suspended parallel robot, system analysis and design, workspace analysis.", volume = "10", number = "12", pages = "1943-5", }
