期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：142
DOI：10.5772/52147
语种：English
出版社：SAGE Publications
摘要：Cable distribution plays a vital role in Cable Driven Parallel Manipulators (CDPMs) regarding tension and workspace quality, especially in fully restrained CDPMs. This paper focuses on three typical configurations of fully restrained CDPMs with 7 cables in order to introduce an approach for configuration synthesis. Firstly, the kinematic models of three types of CDPMs with 7 cables are set up. Then, in order to evaluate workspace quality, two new indices are proposed by using tensions along each cable, which are the All Cable Tension Distribution Index (ACTDI) and Global Tension Distribution Index (GTDI). Next, the three types of CDPMs with 7 cables are analysed with the two indices. At the end, according to different performance requirements, the configurations of cable distribution are discussed and selected.
关键词：Cable driven parallel manipulator; Configuration synthesis; Workspace quality; Tension distribution
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