Force-closure analysis of general 6-DOF cable manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 3931-3936

  Diao, Xiumin ^b   Ma, Ou ^a,b  

^a IEEE

^b Horeshoe Cir Jett Hall   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CABLES; INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; ROBOTICS; ROBOTS;

FORCE-CLOSURE; INTERNATIONAL CONFERENCES;

PROBLEM SOLVING;

EID: 40549143045     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399015     Document Type: Conference Paper

References (15)

1. S.E. Landsberger and T.B. Sheridan, "A minimal, minimal linkage: the tension-compression parallel link manipulator", Robotics, Mechatronics and Manufacturing Systems, Vol. 2, 1993, pp. 81-88.
2. R.G. Roberts, T.Graham and T.Lippitt, "On the inverse kinematics, statics, and fault tolerance of cable-suspended manipulators", Journal of'Robotic Systems, Vol. 15, No. 10, 1998, pp. 581-597.
3. P.M. Bosscher, "Disturbance robustness measures and wrench-feasible workspace generation techniques for cable-driven manipulators", Doctoral Dissertation, Georgia Institute of Technology, 2004.
4. A. Ming and T. Higuchi, "Study on multiple degree-of-freedom positioning mechanism using wires (part 1)", Int. Journal of the Japan Society of Precision Engineering, Vol. 28, No. 2, 1994, pp. 131-138.
5. I. Ebert-Uphoff and P.A. Voglewede, "On the Connections Between Cable-Driven Manipulators, Parallel Manipulators and Grasping", Proc. of IEEE Int. Conf. on Robotics & Automation, New Orleans, LA, 2004, pp. 4521-4526.
6. V.-D. Nguyen, "Constructing force-closure grasps", Int. Journal of Robotics Research, Vol. 7, No. 3, 1988, pp. 3-16.
7. M.R. Cutkosky, "On grasp, choice, grasp model, and the design of hands for manufacturing tasks", IEEE Trans. On Robotics & Automation, Vol. 5, No. 3, 1989, pp. 269-279.
8. S. Kawamura, H. Kino, and C. Won, "High-speed manipulation by using a parallel wire-driven manipulators", Robotica, Vol. 18, 2000, pp. 13-21.
9. G. Yang et al, "Kinematic design of a 7-DOF cable-driven humanoid arm: a solution-in-nature approach", Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Monterey, CA, 2005, pp. 444-449.
10. X. Diao and O. Ma, "A Method of Verifying the Force-Closure Condition for General Cable Manipulators with Seven Cables", Mechanism and Machine Theory, 2007. (to appear)
11. M. Gouttefarde and C. Gosselin, "On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms", Proc. Of the ASME int. Design Engineering Technical Conf. and Computer Information Engineering Conf., Salt Lake City, UT, 2004, pp. 337-346.
12. C.B. Pham, S.H. Yeo, G. Yang, M.S. Kurbanhusen, and I-M. Chen, "Force-closure workspace analysis of cable-driven parallel mechanisms", Mech. and Machine Theory, Vol. 41, 2006, pp. 53-69.
13. R.T. Rockafellar, Convex Analysis, Princeton Univ. Press, 1970.
14. R. Murray, Z. Li, and S.S. Sastry, A Mathematical Introduction to Robotic Manipulation, Boca Raton, FL, CRC Press, 1994.
15. E. Stump and V. Kumar, "Workspace delineation of cable-actuated parallel manipulators", Proc. Of the ASME int. Design Engineering Technical Conf. and Computer Information Engineering Conf., Salt Lake City, UT, Sep. 2004.