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.


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    Titel :

    Kinematics of a 2-DOF Planar Suspended Cable-Driven Parallel Robot


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Gouttefarde, Marc (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Nguyen, Dinh Quan (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 2 ; 13-23


    Erscheinungsdatum :

    01.06.2021


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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