A new force calculation algorithm for tendon-based parallel manipulators

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2007, Pages

  Bruckmann, Tobias ^a   Mikelsons, Lars ^a   Hiller, Manfred ^a   Schramm, Dieter ^a  

^a UNIVERSITY OF DUISBURG ESSEN   (Germany)

Author keywords

Force Calculation; Tendon based Manipulator

Indexed keywords

ASYMPTOTIC ANALYSIS; CONSTRAINT THEORY; ELECTRONICS INDUSTRY; MANIPULATORS; MECHATRONICS; PARALLEL ALGORITHMS; TENDONS;

CONSTRAINED OPTIMIZATION PROBLEMS; FORCE CALCULATION; FORCE DISTRIBUTIONS; INTELLIGENT MECHATRONICS; INTERNATIONAL CONFERENCES; NEW ALGORITHM; PARALLEL MANIPULATORS; REAL TIME; REAL-TIME SYSTEMS; STEWART PLATFORMS; TENDON FORCES; TENDON-BASED MANIPULATOR;

CONSTRAINED OPTIMIZATION;

EID: 48649101363     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2007.4412432     Document Type: Conference Paper

References (14)

1. E. Anderson, Z. Bai, C. Bischof, J. Demmel, J. Dongarra, J. Du Croz, A. Greenbaum, S. Hammarling, A. McKenney, S. Ostrouchov, et al., "LAPACK Users Guide, Release 2.0," SIAM, Philadelphia, vol. 324, 1995.
2. P. Bosscher and I. Ebert-Uphoff, "Wrench-based analysis of cable-driven robots." in IEEE Int. Conf. on Robotics and Automation, 28.-30. April, New Orleans 2004, pp. 4950-4955.
3. T. Bruckmann, A. Pott, and M. Hiller, "Calculating force distributions for redundantly actuated tendon-based Stewart platforms," in Advances in Robot Kinematics - Mechanisms and Motion, J. Lenarcic and B. Roth, Eds., Advances in Robotics and Kinematics 2006. Ljubljana, Slowenien: Springer Verlag, Dordrecht, The Netherlands, 2006, pp. 403-413.
4. P. Cignoni, C. Montani, and R. Scopigno, "Dewall: A fast divide and conquer delaunay triangulation algorithm in ed." Computer-Aided Design, vol. 30, no. 5, pp. 333-341, 1998.
5. S. Fang, "Design, modeling and motion control of tendon-based parallel manipulators," Ph. D. Dissertation, Gerhard-Mercator-University, Duisburg, Germany, 2005, fortschritt-Berichte VDI, Reihe 8, Nr. 1076, Dsseldorf.
6. P. C. Hammer, O. P. Marlowe, and A. H. Stroud, "Numerical integration over simplexes and cones," Math. Tables Aids Comp., vol. 10, no. 55, pp. 130-137, July 1956.
7. M. Hiller, S. Fang, C. Hass, and T. Bruckmann, "Analysis, realization and application of the tendon-based parallel robot segesta," in Robotic Systems for Handling and Assembly, ser. International Colloquium of the Collaborative Research Center SFB 562, P. Last, C. Budde, and F. Wahl, Eds., vol. 2, Aachen. Braunschweig, Germany: Shaker Verlag, May 2005, pp. 185-202.
8. M. Hiller, S. Fang, S. Mielczarek, R. Verhoeven, and D. Franitza, "Design, analysis and realization of tendon-based parallel manipulators," Mechanism and Machine Theory, vol. 40, 2005.
9. A. Ming and T. Higuchi, "Study on multiple degree of freedom positioning mechanisms using wires, part 1," Int. J. Japan Soc. Prec. Eng., vol. 28, pp. 235-242, 1994.
10. NAG Ltd., "NAG Fortran Library Manual, Mark 17," 1995.
11. M. Nahon and J. Angeles, "Real-time force optimization in parallel kinematics chains under inequality constraints," in IEEE Int. Conf. on Robotics and Automation, Sacramento, 11.-14. April 1991, pp. 2198-2203.
12. S. R. Oh and S. K. Agrawal, "Cable suspended planar robots with redundant cables: Controllers with positive tensions," in IEEE Transactions on Robotics, 2005.
13. R. Verhoeven, "Analysis of the workspace of tendon-based Stewart-platforms," Ph. D. Dissertation, Gerhard-Mercator-University, Duisburg, Germany, 2004, available under http://deposit.ddb.de/.
14. P. Voglewede and I. Ebert-Uphoff, "On the connections between cable-driven robots, parallel manipulators and grasping," in IEEE International Conference on Robotics and Automation, vol. 5. IEEE, April/May 2004, New Orleans, pp. 4521- 4526.