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

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 6Language: englishTyp: PDF

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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.