Volume 8, Issue 3 (Journal of Control, V.8, N.3 Fall 2014)
JoC 2014, 8(3): 87-117 |
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Zarif Loloei A, Khosravi M A, Taghirad H D. Cable Driven Parallel Robots: Kinematics, Dynamics and Control. JoC 2014; 8 (3) :87-117
URL: http://joc.kntu.ac.ir/article-1-194-en.html
URL: http://joc.kntu.ac.ir/article-1-194-en.html
1- Department of Electrical Engineering, Pardis Branch, Islamic Azad University
2- , Faculty of Electrical Engineering, Amirkabir University of Technology
3- Faculty of Electrical Engineering, Inductrial Control Center of Excellence (ICCE) K. N. Toosi University of Technology
2- , Faculty of Electrical Engineering, Amirkabir University of Technology
3- Faculty of Electrical Engineering, Inductrial Control Center of Excellence (ICCE) K. N. Toosi University of Technology
Abstract: (13465 Views)
Cable-driven robots are a class of parallel robots in which the rigid links are replaced by cables. Using cables instead of rigid links in parallel robots makes them a suitable choice to remedy some of the traditional shortcoming of the conventional robots. However, this introduces new challenges in the study of cable-driven robots. This paper presents a survey of cable-driven robots and addresses numerous challenging open problems in this field. The paper consists of an overview of both applications and theoretical issues of cable-driven robots such as workspace, dynamics and control, and furthermore some open challenging issues in this field of research
Keywords: Parallel robots, cable driven robots, kinematics, dynamics, control, redundancy resolution, workspace.
Type of Article: Research paper |
Subject:
Special
Received: 2015/02/3 | Accepted: 2015/02/27 | Published: 2015/02/27
Received: 2015/02/3 | Accepted: 2015/02/27 | Published: 2015/02/27
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