Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions
In recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration. In this paper, we present a kinematic and dynamic modeling and workspace analysis for a novel suspended CDPR which g...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/6/451 |
| _version_ | 1797485098470211584 |
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| author | Ruobing Wang Yanlin Xie Xigang Chen Yangmin Li |
| author_facet | Ruobing Wang Yanlin Xie Xigang Chen Yangmin Li |
| author_sort | Ruobing Wang |
| collection | DOAJ |
| description | In recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration. In this paper, we present a kinematic and dynamic modeling and workspace analysis for a novel suspended CDPR which generates Schönflies motions. Firstly, the architecture of the robot is introduced, and the inverse and forward kinematic problems of the robot are solved through a geometrical approach. Then, the dynamic equation of the robot is derived by separately considering the moving platform and the drive trains. Based on the dynamic equation, the dynamic feasible workspace of the robot is determined under different values of accelerations. Finally, experiments are performed on a prototype of the robot to demonstrate the correctness of the derived models and workspace. |
| first_indexed | 2024-03-09T23:13:55Z |
| format | Article |
| id | doaj.art-a81e1462d59e47da868dc9ecb32cd4c2 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T23:13:55Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-a81e1462d59e47da868dc9ecb32cd4c22023-11-23T17:39:19ZengMDPI AGMachines2075-17022022-06-0110645110.3390/machines10060451Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies MotionsRuobing Wang0Yanlin Xie1Xigang Chen2Yangmin Li3Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, ChinaDepartment of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, ChinaDepartment of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, ChinaDepartment of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, ChinaIn recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration. In this paper, we present a kinematic and dynamic modeling and workspace analysis for a novel suspended CDPR which generates Schönflies motions. Firstly, the architecture of the robot is introduced, and the inverse and forward kinematic problems of the robot are solved through a geometrical approach. Then, the dynamic equation of the robot is derived by separately considering the moving platform and the drive trains. Based on the dynamic equation, the dynamic feasible workspace of the robot is determined under different values of accelerations. Finally, experiments are performed on a prototype of the robot to demonstrate the correctness of the derived models and workspace.https://www.mdpi.com/2075-1702/10/6/451cable-driven parallel robotkinematicsdynamicsworkspace |
| spellingShingle | Ruobing Wang Yanlin Xie Xigang Chen Yangmin Li Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions Machines cable-driven parallel robot kinematics dynamics workspace |
| title | Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions |
| title_full | Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions |
| title_fullStr | Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions |
| title_full_unstemmed | Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions |
| title_short | Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions |
| title_sort | kinematic and dynamic modeling and workspace analysis of a suspended cable driven parallel robot for schonflies motions |
| topic | cable-driven parallel robot kinematics dynamics workspace |
| url | https://www.mdpi.com/2075-1702/10/6/451 |
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