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Kinematic and Prototype Research of A Novel Three-wire-driven Parallel ( TWDP ) Robot
| Content Provider | Semantic Scholar |
|---|---|
| Copyright Year | 2011 |
| Abstract | In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed, and the prototype is presented with control system. With its mechanism model, three typical kinematic analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. The open-loop and close-loop control scheme are used separately to realize the motion control of the robot. Especially, the image processing based machine vision is adopted firstly in the close-loop control of wire-driven robot. At last, the error analysis of the robot is given in detail. Key-Words: Wire-driven, Parallel robot, Kinematics, Statics, Motion control, Machine vision |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://web.cc.yamaguchi-u.ac.jp/~eimanage/vol1issue1/TaoYu-51-60.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
