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Workspace formulation of planar wire-actuated parallel manipulators

Published online by Cambridge University Press:  19 August 2010

Derek McColl  and
Leila Notash
Derek McColl
Affiliation:
Department of Mechanical and Materials Engineering, Queen's University, Kingston, ON, Canada
Leila Notash*
Affiliation:
Department of Mechanical and Materials Engineering, Queen's University, Kingston, ON, Canada
*
*Corresponding author. E-mail: notash@me.queensu.ca
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Summary

In this paper, a generalized form of the antipodal method from multi-finger grasping is presented and implemented for investigating the workspace of a wide range of planar wire-actuated parallel manipulators. Manipulators with distinct wire attachment points on the base and mobile platform are considered, in the absence and presence of external force. The examined workspaces are verified with the corresponding workspaces developed using static force analysis. By applying an external force, modeled as a wire for the antipodal method, the characteristics of the manipulator could be altered by enlarging its workspace in the direction of the applied force.

Keywords

Parallel manipulatorsWire-actuated parallel manipulatorsWorkspace analysisAntipodal theoremWrench-closure workspace
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 607 - 617
Copyright
Copyright © Cambridge University Press 2010

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