IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/914653.html
   My bibliography  Save this article

Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

Author

Listed:
  • Bin Zi
  • Jianbin Cao
  • Zhencai Zhu
  • Peter Mitrouchev

Abstract

The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM) are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

Suggested Citation

  • Bin Zi & Jianbin Cao & Zhencai Zhu & Peter Mitrouchev, 2013. "Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-15, March.
    • Handle: RePEc:hin:jnlmpe:914653
    DOI: 10.1155/2013/914653
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2013/914653.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2013/914653.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2013/914653?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:914653. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.