Workspace delineation of cable-actuated parallel manipulators

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2 B, Issue , 2004, Pages 1303-1310

  Stump, Ethan ^a   Kumar, Vijay ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; BOUNDARY CONDITIONS; CABLES; COMPUTATIONAL METHODS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MATHEMATICAL MODELS; OPTIMIZATION; ROBOTS; VECTORS;

CABLE TENSION; CABLE-ACTUATED PARALLEL MANIPULATORS; SEMI-DEFINITE PROGRAMMING; WRENCH VECTORS;

MANIPULATORS;

EID: 13944271021     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/detc2004-57495     Document Type: Conference Paper

References (15)

1. Roberts, R., Graham, T., and Lippitt, T., 1998. "On the inverse kinematics, statics, and fault tolerance of cable-suspended robots". Journal of Robotic Systems, 15 (10), pp. 581-597.
2. Oh, S., and Agrawal, S., 2003. "Cable-suspended planar parallel robots with redundant cables: Controllers with positive cable tensions". In Proc. of IEEE Internation Conference on Robotics and Automation, pp. 3023-3028.
3. Cauchy, A., 1813. "Deuxihme memoire sur les polygones et les polyhdres". Journal de l'Icole Polytechnique Mai, pp. 87-98.
4. Stewart, D., 1965. "A platform with 6 degrees of freedom". Proc. of the Insitution of Mechanical Engineers, 180 (Part 1, 15), pp. 371-386.
5. Merlet, J.-P., 2000. Parallel Robots. Kluwer, Dordrecht.
6. Albus, J., Bostelman, R., and Dagalakis, N., 1992. "The nist spider, a robot crane". Journal of Research of the National Institute of Standards and Technology, 97 (3) May, pp. 373-385.
7. Takeda, Y., and Funabashi, H., 2000. "Kinematic synthesis of spatial in-parallel wire-driven mechanism with six degrees of freedom with high force transmissibility". In Proceedings of the ASME International Design Engineering Technical Conference.
8. Husty, M., 1994. An algorithm for solving the direct kinematics of stewart-gough-type platforms.
9. Murray, R., Li, Z., and Sastry, S., 1993. A Mathematical Introduction to Robotic Manipulation. CRC Press, Florida.
10. Mason, M. T., and Salisbury, J. K., 1985. Robot Hands and the Mechanics of Manipulation. MIT Press, Cambridge, Massachusetts.
11. Han, L., Li, Z., Trinkle, J., Qin, Z., and Jiang, S., 2000. "The planning and control of robot dexterous manipulation". In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 263-269.
12. Boyd, S., 2004. Convex Optimization. Cambridge University Press, Cambridge, UK.
13. Mangasarian, O., 1969. Nonlinear Programming. McGraw-Hill, New York.
14. Merlet, J.-P., 1989. "Singular configurations of parallel manipulators and grassmann geometry". In Geometry and Robotics, J.-D. Boissonnat and J.-P. Laumond, Eds., vol. LNCS 391. Springer-Verlag, pp. 194-212.
15. Cottle, R., Pang, J.-S., and Stone, R., 1992. The Linear Complementarity Problem. Academic Press, Boston.