NDLI: Controllable workspace of cable driven redundant parallel manipulator with more than one degree of redundancy

Content Provider	IEEE Xplore Digital Library
Author	Loloei, A.Z. Taghirad, H.D.
Copyright Year	2011
Description	Author affiliation: Dept. of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran (Loloei, A.Z.; Taghirad, H.D.)
Abstract	Controllable workspace analysis is one of the most important issues in the cable-driven parallel manipulator design. This paper introduces a set of extended fundamental wrenches that opens new horizons for physical interpretation of controllable workspace of cable driven redundant parallel manipulators with more than one degree of redundancy. Based on extended fundamental wrench properties, attractive theorems are presented in order to analyze the controllable workspace of cable-driven parallel manipulator with more than one degree of redundancy. Moreover, an analytical method is developed to determine the controllable workspace of redundant cable-driven parallel manipulators based on extended fundamental wrenches. The proposed method is generally applicable to any cable redundant manipulators as long as its Jacobian matrix is of full rank. In the proposed method, an analytic approach is employed based on linear algebra in order to derive the boundary of controllable workspace. Finally, the simulation result for a spatial manipulator is given.
Sponsorship	IEEE
Starting Page	898
Ending Page	903
File Size	653575
Page Count	6
File Format	PDF
ISBN	9781467316897
e-ISBN	9781467316903
DOI	10.1109/ICCIAutom.2011.6356781
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-27
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automation Instruments
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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