In order to compensate 6-DOF relative motion between the ship and large size or weight containers in replenishment operation at sea, a 6-DOF active wave compensation cable-drive parallel robot with anti-swing was designed. It could compensate the 6-DOF motion of cargo and maintain the cargo balance in replenishment operation. The structure and working principle of the cable-drive parallel robot was introduced. The kinematics and dynamics model was established. Swing inhibition principle of the robot was elaborated. The relationship between the robot size and anti-swing workspace was revealed. At last, the simulation study of anti-swing workspace was realized.
Research on anti-swing characteristic of redundancy cable-driven parallel robot
2017-03-01
657773 byte
Conference paper
Electronic Resource
English
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