Redundant General Stewart Platform for the Large Radio Telescope

Qiu, Yuanying

doi:10.3901/jme.2001.12.007

Cited by 3 publications

(1 citation statement)

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“…Compared with the rod supporting parallel manipulator, the wire-driven parallel manipulators are possessed of a simple structure, small inertia, large position workspace and fast movement and so on. From the 80 years since the 20th century, scholars in this field have researched on the position analysis, configuration design, workspace analysis, stiffness analysis, dynamic analysis and control systems and other aspects, and the wire-driven parallel manipulators have applied to the virtual reality force feedback devices, wind tunnel, a large telescope, ultra-high speed robots, super-light weight robots and so on [1][2][3][4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Wire-Driven Parallel Manipulator Based on Influence Coefficient Method

Cao

Wang

Zhou

et al. 2010

AMR

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The dynamic model of a 6-DOF wire-driven parallel manipulator is established, based on influence coefficient method for wire-driven parallel manipulator trajectory planning algorithm is proposed, the orientation parameters by Euler angles of moving platform of time first-order and second-order derivative which is not a moving platform angular velocity and angular acceleration is verified. For the moving platform position and orientation workspace trajectory planning, the kinematic characteristics of wires are discussed. The simulation results show that the tension of the wires are always greater than 0, the expressions of velocity, acceleration and tension of wires are exceptionally clear and simple. Also, the method of trajectory planning proposed is suitable for general 6-DOF wire-driven parallel manipulator.

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Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Wire-Driven Parallel Manipulator Based on Influence Coefficient Method

Cao

Wang

Zhou

et al. 2010

AMR

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Trajectory Planning of a Planar Cable-Driven Robot for Industrial Detection

Hong

Tan

2020

J. Phys.: Conf. Ser.

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This paper presents a planar two-degree-of-freedom cable-driven robot for detecting the surface defect of the boiler pipes. The mechanism is first described and inverse solution laws of position, velocity and acceleration are studied based on the dynamic model of the cable-driven robot. A linear trajectory planning approach is developed, which is based on the position discrete differential and trapezoidal speed planning. An example trajectory is presented, then simulating and analyzing the change law of the length and velocity of the driving cable based on the point-to-point linear trajectory planning algorithm. The research shows that the length of the cable is continuously changed, which ensures that the end-effector of cable-driven robot can run smoothly, continuously, and accurately during the industrial detection.

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