This paper discusses the kinematics of a two degrees of freedom (2-DOF) planar suspended cable-driven parallel robot (CDPR) with massless cables. The solutions for the inverse and direct geometric as well as the inverse and direct kinematic problems are derived while fully considering the influence of pulleys and cable winding drums.
Kinematics of a 2-DOF Planar Suspended Cable-Driven Parallel Robot
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
01.06.2021
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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