Design of manipulator driven by flexible cable for floating platform and analysis on its motion characteristics
The conventional rigid manipulator is so heavy,which contributes to its low load-to-weight ratio and poor flexibil-ity.In this article,a tandem-parallel manipulator driven by the flexible cable is proposed;its parts are formulated and assembled in the drawing software SolidWorks.The manipulator's composition and working principle are briefly described.Both the world coordinate system and the accompanying coordinate system are set up for the manipulator;the kinematic analysis is carried out with the help of the D-H method.Then,the space vector closure method is used to derive the mapping from the driving space to the joint space of the manipulator's parallel joint,and the overall kinematic model is constructed.Next,the manipulator's work-space is simulated by means of the simulation software;it is proved that the workspace is accurate.The results lay a theoretical foundation for the manipulator's engineering application and optimization in the future.
tandem-parallel manipulatordriven by flexible cablekinematicsworkspace
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