contributor author | Lau, Darwin | |
contributor author | Oetomo, Denny | |
date accessioned | 2017-05-09T01:30:56Z | |
date available | 2017-05-09T01:30:56Z | |
date issued | 2016 | |
identifier issn | 1050-0472 | |
identifier other | md_138_03_032303.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161769 | |
description abstract | Wrenchclosure is an important property of cabledriven parallel manipulators (CDPMs), representing the ability to generate wrench in any direction by positive cable forces. For single link CDPMs, it is well known that m ≥ n + 1 cables are necessary for an n degreesoffreedom CDPM to achieve wrenchclosure. However, for multilink cabledriven manipulators (MCDMs), this condition is too relaxed and the cable routing should also be considered. In this paper, necessary conditions to achieve wrenchclosure for MCDMs are mathematically derived based on the cable routing arrangements. Since the approach is independent on the exact attachment locations, the proposed necessary conditions can be efficiently validated during the design and synthesis of MCDMs. Analysis is performed on a range of different MCDM structures to identify cable arrangements that do not satisfy wrenchclosure for an MCDM. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Conditions on the Cable Routing Matrix for Wrench Closure of Multilink Cable Driven Manipulators | |
type | Journal Paper | |
journal volume | 138 | |
journal issue | 3 | |
journal title | Journal of Mechanical Design | |
identifier doi | 10.1115/1.4032402 | |
journal fristpage | 32303 | |
journal lastpage | 32303 | |
identifier eissn | 1528-9001 | |
tree | Journal of Mechanical Design:;2016:;volume( 138 ):;issue: 003 | |
contenttype | Fulltext | |