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Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot
| Content Provider | SAGE Publishing |
|---|---|
| Author | Zi, Bin Wu, Xia Lin, Jun Zhu, Zhencai |
| Copyright Year | 2012 |
| Abstract | This paper addresses the kinematics and graphical representation of the singularity configuration of a hybrid-driven cable-suspended parallel robot (HDCPR) with three translational degrees of freedom (DOFs). Applying the closed-loop vector method and geometric methodology, inverse kinematics of the HDCPR needed for singularity analysis is performed. For the sake of singularity condition calculation within the reachable workspace, the procedure utilizing analytical methodology and gradual search algorithm is presented. Simulation results demonstrate the validity of the kinematics and singularity analysis developed. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/51920?download=true |
| ISSN | 17298806 |
| Issue Number | 4 |
| Volume Number | 9 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/51920 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2017-05-15 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2012 Zi et al.; licensee InTech. |
| Subject Keyword | Cable parallel robot Inverse kinematics Hybrid-driven planar five-bar mechanism Singularity |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
