Optimal tension distribution of wire-driven parallel manipulators

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering

Volumn 41, Issue 9, 2005, Pages 140-145

  Zheng, Yaqing ^a   Liu, Xiongwei ^b  

^a HUAQIAO UNIVERSITY   (China)

^b UNIVERSITY OF HERTFORDSHIRE   (United Kingdom)

Author keywords

Convex polyhedra; Non linear optimization; p norm; Tension distribution; Wire driven parallel manipulators

Indexed keywords

ALGORITHMS; MOTION CONTROL; OPTIMIZATION; TENSILE STRESS;

CONVEX POLYHEDRA; NONLINEAR OPTIMIZATION; TENSION DISTRIBUTION; WIRE DRIVEN PARALLEL MANIPULATORS;

REDUNDANT MANIPULATORS;

EID: 25844490051     PISSN: 05776686     EISSN: None     Source Type: Journal    
DOI: 10.3901/jme.2005.09.140     Document Type: Article

References (6)

1. Verhoeven R, Hiller M, Tadoroko S. Workspace, stiffness singularities and classification of tendon driven Stewart platforms. In: Proceedings of the 6th International Symposium on Advances in Robot Kinematics, Strobl/Salzburg, 1998: 105-114
2. Dagalakis N G, Albus J S, Wang B L, et al. Stiffness study of a parallel link robot crane for shipbuilding applications. ASME Journal of Offshore Mechanics and Arctic Engineering, 1989, 111(3): 183-193
3. Lafourcade P, Llibre M, Reboulet C. Design of a parallel wire-driven manipulator for wind tunnels. In: Proceedings of the Workshop on Fundamental Issues and Future Directions for Parallel Mechanisms and Manipulators, Quebec City, Quebec, 2002, 10: 187-194
4. Ming A, Higuchi T. Study on multiple degree of freedom positioning mechanisms using wires (part 1): concept, design and control. International Journal of the Japan Society for Precision Engineering, 1994, 28(2): 131-138
5. Verhoeven R. Analysis of the workspace of tendon-based Stewart platforms: [PhD Dissertation]. Duisburg: Gerhard Mercator University, 2004