NDLI: Workspace Analysis of a 6-DOF Cable Robot for Hardware-in-the-Loop Dynamic Simulation

Content Provider	IEEE Xplore Digital Library
Author	Xiumin Diao Ou Ma
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM (Xiumin Diao; Ou Ma)
Abstract	This paper describes the study of the force-closure workspace of a 6-DOF, cable-driven, parallel robot for the application in a hardware-in-the-loop dynamic simulator, which is used for simulating microgravity contact dynamics of spacecraft or robotic systems. The workspace under study is defined as the set of all end-effector poses satisfying force-closure condition. Force-closure also means that the inverse dynamics problem of the manipulator has a feasible solution. Since there is no limitation on the external wrench and the dynamic motion of the end-effector, such a workspace is the most desirable (or nonrestricted) workspace for the intended application simulating low-speed impact-contact dynamics. A systematic method of determining whether or not a given end-effector's pose is inside the workspace is proposed with mathematical proof. Based on this method, the shape, boundary, dimensions, and volume of the workspace of a 6-DOF cable robot are displayed and discussed
Starting Page	4103
Ending Page	4108
File Size	7514492
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281876
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Analytical models Computational modeling Manipulator dynamics Computer simulation Predictive models Space vehicles Orbital robotics Parallel robots Space technology Space shuttles hardware-in-the-loop simulator Cable robot wire robot force-closure workspace
Content Type	Text
Resource Type	Article

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