Design of a Tendon Driven Parallel Manipulator for Micro-factory Applications

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

Persönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt

Fassi, Irene (Institute of Industrial Technologies and Automation, National Research Council, Via Bassini 15, 20131 Milano, Italy)
Legnani, Giovanni; Magnani, Pier Luigi (Dip. Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, 25123 Brescia, Italy)

In this paper, the design and application of a tendon driven (TD) parallel kinematic manipulator (PKM) is discussed with regards to micro-factory. Two different configurations of a 6-dof TD-PKM are presented, respectively with six and eight cables, and their kineto-static analysis is performed, to evaluate workspace and isotropic behaviour. The design of the special pulleys is described and the main issues on the developed control strategy to deal with a fast manipulator reconfiguration are discussed.