Optimization of a planar tendon-driven parallel manipulator for a maximal dextrous workspace

Optimization of a planar tendon-driven parallel manipulator for a maximal dextrous workspace

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Article ID: iaor20081332
Country: United Kingdom
Volume: 37
Issue: 3
Start Page Number: 217
End Page Number: 236
Publication Date: Apr 2005
Journal: Engineering Optimization
Authors: ,
Keywords: optimization
Abstract:

In this article, new methodologies for determining the tension distribution and optimal configurations of planar tendon-driven parallel manipulators (TDPMs) are presented. TDPMs are characterized by the use of cables in place of the linear actuators used in most parallel manipulators. Three separate, but inter-related topics are examined in this article, and methodologies for addressing them are proposed. The first is the determination of cable forces for overconstrained tendon-driven manipulators, which is necessary in order to address the second topic, namely, the development of a methodology for workspace determination of tendon-driven manipulators. The final topic examined is the dimensional synthesis of tendon-driven manipulators for a large dextrous workspace. The numerical methodologies developed here have potential for easy application to more complex spatial cases.

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