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Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator
Joint Authors
Zi, Bin
Cao, Jianbin
Zhu, Zhencai
Mitrouchev, Peter
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-03-14
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM) are presented.
The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism.
The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators.
The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method.
The workspace of the manipulator is analyzed additionally.
As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis.
The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.
American Psychological Association (APA)
Zi, Bin& Cao, Jianbin& Zhu, Zhencai& Mitrouchev, Peter. 2013. Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-1011136
Modern Language Association (MLA)
Zi, Bin…[et al.]. Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator. Mathematical Problems in Engineering No. 2013 (2013), pp.1-15.
https://search.emarefa.net/detail/BIM-1011136
American Medical Association (AMA)
Zi, Bin& Cao, Jianbin& Zhu, Zhencai& Mitrouchev, Peter. Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-1011136
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1011136