Investigation on a Planar Cable-Driven Parallel Robot

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: Robotik 2012

Seiten: 6Sprache: EnglischTyp: PDF

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Autoren:
Kraus, Werner; Schmidt, Valentin; Pott, Andreas; Verl, Alexander (Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany)

Inhalt:
Planar parallel robots have been examined theoretically for a long period. Similarly, cable robots have also been a subject for research in the last decade. Recent research on cable-driven parallel robots primarily focused on spatial configurations which enable six degrees of freedom (DOF). This paper examines a planar cable robot with two translative and one rotative DOF. We present a theoretic concept of the robot and the implementation of the kinematic algorithms used. The workspace of the robot is investigated for different tension levels. The calibration of the robot is done with a LaserTracker. Finally, simulation results are verified by measurements of the test rig performance.