INTERVAL ANALYSIS OF CONTROLLABLE WORKSPACE FOR CABLE ROBOTS

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ZARIF LOLOEI A.; TAGHIRAD H.D.; KOUCHMESHKY N.

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Journal Paper

Paper Information

Journal: AMIRKABIR INTERNATIONAL JOURNAL OF ELECTRICAL AND ELECTRONICS ENGINEERING Year:2013 | Volume:45 | Issue:1 Page(s): 1-8

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Title

INTERVAL ANALYSIS OF CONTROLLABLE WORKSPACE FOR CABLE ROBOTS

Author(s)

ZARIF LOLOEI A. | TAGHIRAD H.D. | KOUCHMESHKY N. | Issue Writer Certificate

Keywords

CONTROLLABLE WORKSPACE

INTERVAL ANALYSIS

CABLE DRIVEN REDUNDANT PARALLEL MANIPULATOR

FUNDAMENTAL WRENCH

BOUNDARY OF WORKSPACE

UNIDIRECTIONAL CONSTRAINT

Abstract

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. However, the UNIDIRECTIONAL CONSTRAINT imposed by cables causes this analysis more challenging in the CABLE DRIVEN REDUNDANT PARALLEL MANIPULATORs. CONTROLLABLE WORKSPACE is one of the general workspace in the CABLE DRIVEN REDUNDANT PARALLEL MANIPULATORs due to the dependency on geometry parameters in the CABLE DRIVEN REDUNDANT PARALLEL MANIPULATORs. In this paper, a novel tool is presented based on INTERVAL ANALYSIS for determination of the boundaries and proper assessment of the enclosed region of CONTROLLABLE WORKSPACE of cable-driven redundant parallel manipulators. This algorithm utilizes the FUNDAMENTAL WRENCH interpretation to analyze the CONTROLLABLE WORKSPACE of CABLE DRIVEN REDUNDANT PARALLEL MANIPULATORs. FUNDAMENTAL WRENCH is the newly definitions that opens new horizons for physical interpretation of CONTROLLABLE WORKSPACE of general CABLE DRIVEN REDUNDANT PARALLEL MANIPULATORs. Finally, the proposed method is implemented on a spatial cable driven redundant manipulator of interest.

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APA: Copy

ZARIF LOLOEI, A., TAGHIRAD, H.D., & KOUCHMESHKY, N.. (2013). INTERVAL ANALYSIS OF CONTROLLABLE WORKSPACE FOR CABLE ROBOTS. AMIRKABIR INTERNATIONAL JOURNAL OF ELECTRICAL AND ELECTRONICS ENGINEERING, 45(1), 1-8. SID. https://sid.ir/paper/334313/en

Vancouver: Copy

ZARIF LOLOEI A., TAGHIRAD H.D., KOUCHMESHKY N.. INTERVAL ANALYSIS OF CONTROLLABLE WORKSPACE FOR CABLE ROBOTS. AMIRKABIR INTERNATIONAL JOURNAL OF ELECTRICAL AND ELECTRONICS ENGINEERING[Internet]. 2013;45(1):1-8. Available from: https://sid.ir/paper/334313/en

IEEE: Copy

A. ZARIF LOLOEI, H.D. TAGHIRAD, and N. KOUCHMESHKY, “INTERVAL ANALYSIS OF CONTROLLABLE WORKSPACE FOR CABLE ROBOTS,” AMIRKABIR INTERNATIONAL JOURNAL OF ELECTRICAL AND ELECTRONICS ENGINEERING, vol. 45, no. 1, pp. 1–8, 2013, [Online]. Available: https://sid.ir/paper/334313/en

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