Kinematic and Dynamic Analysis and Workspace Optimization of a 3DoF Cable-Based Parallel Robot, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For...
Cataloging briefKinematic and Dynamic Analysis and Workspace Optimization of a 3DoF Cable-Based Parallel Robot, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For...
Find in contentBookmark
|
|