Research on Configuration Optimization Design of Adaptive Rope Driven Parallel Robot
The configuration design of parallel robots driven by different cables will generate different workspace and flexible char-acteristics.An adaptive cable driven parallel robot structural model was proposed.The structure model can modify the adhesive points of the end effector through cable winding without increasing motion redundancy.The proposed robot can be passively reconstructed into multiple configurations.Based on the reconstruction conditions,the adaptive principle was proposed,and the kinematics model and static balance model of the adaptive cable driven parallel robot were established.The workspace and flexibility index were defined,and the proportion of adaptive bonding points was optimized.The results indicate that this design has a larger workspace and better flexibility.
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