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Designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot for heavy loads handling applications
, Article 39th International Symposium on Robotics, ISR 2008, Seoul, 15 October 2008 through 17 October 2008 ; 2008 , Pages 934-939 ; Zohoor, H ; Sharif University of Technology
2008
Abstract
The objective of this paper is designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot as IRPM (Incompletely Restrained Positioning Mechanism). This type of robots supports a load platform in space by less than or equal to six spatially arranged cables. We use the model of 6 cables spanned in the same manner as a Stewart parallel mechanism. This mechanism is suitable for the accurate positioning of heavy loads. Concentrating on the operations of heavy loads handling, studying the workspace and ways of increasing it is of high importance. Several workspaces exist amongst which the constant and total orientation statically reachable combined and wrench feasible...