This paper analyzes the dynamic modeling and workplace of the 3T cable-driven parallel manipulator. The mechanism utilizes four cables to driven. Firstly, the kinematics equations and the inverse dynamics model were set up for the analysis. And then, pseudo-drag is a serious problem in cable-driven parallel manipulator, this paper give a method to find the workplace under the condition of pseudo-drag. Finally, through numerical simulation, the workplace of the mechanism satisfying the demand is presented by comprehensive analysis.
Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator
Applied Mechanics and Materials ; 415 ; 519-523
2013-09-03
5 pages
Article (Journal)
Electronic Resource
English
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